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parallaxinc / Simple-Libraries

Contents of the SimpleIDE workspace folder and its Parallax Learn Simple Libraries subfolder.
http://learn.parallax.com/propeller-c-set-simpleide/update-your-learn-folder
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servo360 - velocity overshoot after acceleration #133

Closed AndyLindsay closed 6 years ago

AndyLindsay commented 6 years ago

The servo isn't quite able to keep up during acceleration, and the high proportional response to that causes it to overshoot.

AndyLindsay commented 6 years ago

A simple reduction in KpV turned out to be the most effective remedy. Since there's a larger Kp slowing down the faster servo, the treatment of error between calculated and actual position could be less heavy handed.

AndyLindsay commented 6 years ago

Closed in this commit, but always make sure to get the latest from the community branch.