Alex Joni wrote: > Hi Jon, > >> function correctly. I just downloaded and compiled from the CVS TRUNK >> and ran into this problem. I verified the inputs to PID were rational. >> I will have to do more debugging tonight, and at least try to determine >> which module the problem is in. >> > > Are you sure you ran the latest CVS TRUNK? > There was a problem with pid caused by the pin to param conversion I did > last week or so. It was also true for the ddt component iirc. > I believe I have demonstraded a problem with pid. See scope trace at http://pico-systems.com/images/badpid.png
The aqua trace is the output of the PID component, and sure looks pathological. The dark blue trace is pid.0.error, and seems right for what was happening. I was commanding a slow jog, and there was no movement, as shown by the ppmc.0.encoder.00.delta trace. Here are the calibration settings : Max Vel 1.25 P 0.1 I 0 D 0.1 Bias 0 FF0 0 FF1 1 FF2 0 DeadBand 0.000126 INPUT_SCALE 80000 OUTPUT_SCALE 100 Note some of these settings are to keep the machine from going haywire while testing PID, and are quite odd, but the behavior of the PID output seems wrong. I guess I can try some more normal settings, but then the servos start squealing and jumping. Jon ------------------------------------------------------------------------- This SF.Net email is sponsored by the Moblin Your Move Developer's challenge Build the coolest Linux based applications with Moblin SDK & win great prizes Grand prize is a trip for two to an Open Source event anywhere in the world http://moblin-contest.org/redirect.php?banner_id=100&url=/ _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
