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Forum Newbie
Group: Forum Members
Last Login: Thursday, November 27, 2008 2:01 PM
Posts: 9,
Visits: 121
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To finetune the PID-parameters for my robot (10” wheeldiameter, motor with 16 count quadratur encoder, 84:1 planetary gear + 2:1 beltdrive) I tried to read all the information about the PID controller from your website: Serializer msdn documentation, example code and - because the default values are for the Traxter drivetrain - the available information about the Traxter motor and drivetrain. And now I have to admit, that I am confused.
In my case the gearreduction is (84*2) = 168:1 = 0.006
But whats about the encoder resolution?
In the PID configuration notes “Determining L by calculation” the Encoder Resolution (ticks per rev) is 624. In the example code and in the msdn documentation the EncoderResolution is set to 4!
624 ticks per rev are the ticks for one rotation of the outputshaft of the Traxter geartrain ( = one rotation of the wheel)?
In my case I would calculate 16*4 *168 = 10752 ticks per one revolution of the wheel. Or is it 16 * 168 = 2688. In my opinion it depends on the way how the Serializer deals with the pulses from the motor quadrature encoder.
As you can see, help is needed again.
Best regards,
Gunter
BTW: The link to the example source code at the end of “PID configuration notes “ will lead you to the example code of the GP2D120 infrared sensor!?
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Forum Newbie
Group: Forum Members
Last Login: Thursday, November 27, 2008 2:01 PM
Posts: 9,
Visits: 121
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|
Problem solved with a little test-program: It is 16 * 168 = 2688 ticks per wheel-revolution, because the Serializer only counts channel B ( Serializer User Guide, p.23, getenc command) to determine the encoder counts.
Best regards,
Gunter
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