search

jiahan / atrias

Automatically exported from code.google.com/p/atrias
0 stars 0 forks source link

Implement soft damping motor position limits. #50

Closed GoogleCodeExporter closed 8 years ago

GoogleCodeExporter commented 8 years ago 
The Medullas need to implement motor position limits, such that if the motor 
comes close to a hard stop the medulla runs a damping controller to stop the 
motor smoothly.

Original issue reported on code.google.com by kit...@gmail.com on 5 Jan 2012 at 11:22

GoogleCodeExporter commented 8 years ago 
Currently the medullas will disable the motors if the motors get within 10% of 
either end of their range of motion. The code is in place to run the damping 
controller in the medullas, but I need to come up with a save way to tune the 
gain on the controller.

Original comment by kit...@gmail.com on 12 Jan 2012 at 8:05

GoogleCodeExporter commented 8 years ago

Original comment by kit...@gmail.com on 12 Jan 2012 at 8:10

GoogleCodeExporter commented 8 years ago 
This problem is on hold for now. It will be fixed in the new version of the 
medulla firmware.

Original comment by kit...@gmail.com on 9 Jul 2012 at 7:29