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ezWheelSAS / swd_ros_controllers

ROS nodes to control motors powered by the ez-Wheel Safety Wheel Drive (SWD®) technology.
https://www.ez-wheel.com/
GNU Lesser General Public License v2.1
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Ajusting speed of acceleration and deceleration #42

Closed suguruhamada1003910 closed 1 year ago

suguruhamada1003910 commented 2 years ago

Adjusting the PID gain of the SWD Core. #8

As written here, I think we can change speed of acceleration and deceleration with commissioning. However, I do not know the meaning of the value of "vl_velocity_deceleration_delta_speed" and "vl_velocity_acceleration_delta_speed". What is the meaning of 1500?

GMezWheel commented 2 years ago

The documentation is provided into include files of ezw-smc-core library. =>IVelocityModeService.hpp

uint32_t vl_velocity_acceleration_delta_speed = uint32_t{}; /*!< The configured delta speed of the slope of the acceleration ramp. The values shall be given in rotations per minute (r/min) or in user-defined velocity units. Default : 500 r/min. */
uint16_t vl_velocity_acceleration_delta_time  = uint16_t{}; /*!< The configured delta time of the slope of the acceleration ramp. The values shall be given in second or in user-defined time units. Default : 1s. */
uint32_t vl_velocity_deceleration_delta_speed = uint32_t{}; /*!< The configured delta speed of the slope of the deceleration ramp. The values shall be given in rotations per minute (r/min) or in user-defined velocity units. Default : 500 r/min. */
uint16_t vl_velocity_deceleration_delta_time  = uint16_t{}; /*!< The configured delta time of the slope of the deceleration ramp. The values shall be given in second or in user-defined time units. Default : 1s. */

Thus, in your case, 1500rpm means that the ramp acc/dec is 1500 rpm/s

suguruhamada1003910 commented 2 years ago

Thanks a lot!!