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Forum Newbie
Group: Forum Members
Last Login: Wednesday, June 04, 2008 12:51 AM
Posts: 4,
Visits: 14
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Dear Rigo, many thanks for your interesting reply.
I have tried vpid with following steps:
(serializer reply are mentionned under stars)
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getFirmware
* 1.5.1> *
vpid 1:0:5:2
* ACK> *
clrenc 1 2
* ACK> *
getenc
* 0 0> *
mogo 1: 20 2:20
* ACK> *
%%%%% wait 1 sec to release the mogo
getenc
* 6169 6206> *
setStopMotor
* ACK> *
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so it seems to work well
vpid works but dpid is more interesting
from now, few problems appeared:
1) sometimes, the first command doesn't work (i.e. replies * NACK> * )
2) cfg enc seems to be different than the doc
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cfg enc 0
* ACK> *
cfg enc 1
* ACK> *
%%%%%% but both reply
cfg enc
* ACK> *
%%%%%% (that is different from the doc,
%%%%%% serializer WL 2.1, p22 ??? )
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is there anybody who has same problems?
So, I will try dpid today and report it soon
Does anybody can show me a good dpid sequence?
--
N AT MIME
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Forum Newbie
Group: Forum Members
Last Login: Wednesday, June 04, 2008 12:51 AM
Posts: 4,
Visits: 14
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ok, here is the process that I have used to configure my vpid and dpid
1- first off all, configure vpid
(as developped in my previous message)
you have to find the right curve that increases well (without oscillation and vibration, without jerk, something like a cumulative chi-square distribution. (using vpid and mogo)
2- configure dpid
set the dpid and use digo
so, one main question remains:
currently, VPID are explained with float values
(vpid with 0.1 for V, 0 for P, 0 for I and 10 for D, that is corresponding to 10 div regulation according to coders)
P defines approximatively the starting slope
BUT, in the serializer doc, pids are available with integer arguments ?
so when you are at 1 for P value, how to divide P again?
(ps: contrary to my previous message, CFG ENC works as mentionned in the doc but nothing is different between simple and quadric modes.
I have tested all this using two differents motors, and the one with 512 div per wheel circonference needs to start slower (jerking at start with P = 1) , so it needs a smaller P value, but once again, how to fix P at 0.1)
--
N AT MIME
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Supreme Being
Group: Administrators
Last Login: Monday, December 01, 2008 6:34 PM
Posts: 299,
Visits: 426
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| I think Ringo confused you a few posts back, when he referred to using a floating PID parameter. The firmware doesn't support a floating parameter, and is integer based only. He was talking about possibly adding it to a future release of the firmware.  I apologize for the confusion. Sounds like you're making good progress! The PID stuff just takes some trial runs to get it set exactly like you want it. Best Regards!
Jason Summerour
President,
Summerour Robotics Corporation
Microsoft MVP
www.roboticsconnection.com
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