search

sonyccd / roboclaw_ros

ros for roboclaw
BSD 2-Clause "Simplified" License
50 stars 92 forks source link

encoder inverse problem solved && encoder type error %d solved && ticks_per_meter typo issue solved #28

Closed ryudolf closed 3 years ago

ryudolf commented 3 years ago

encoder inverse problem solved encoder type error %d solved ticks_per_meter typo issue solved

ryudolf commented 3 years ago

customized roboclaw driver package

huangdii commented 3 years ago

[motor 1, motor 2] /////////////////////////////////////////// ///// [position control PID ]

[PID gain ] P 80, I 1.5, D 450 MaxI 45

[Control gain] Accel 10000, Decel 10000, Speed 4990

[conversion factor] 1turn 2495 pulse --> 314mm (0.314m) 10 turn 24950 pulse 50 turn 124750 pulse Speed 2495 >> 1turn/1sec Speed 4990 >> 2turn/1sec

2495 tick / 0.314 m = 7945.85 tick / meter

/////////////////////////////////////////// ///// [Velocity condtol PIV ]

[PIV gain] Position P 20 Vel P 7, Vel I 0.5 QPPS 5000

[Control gain] Accel 10000