Closed GoogleCodeExporter closed 9 years ago
I'll go ahead and document that we think the reason for this is that
CONTROLLER_LOOP_OFFSET_NS was too small. The microcontrollers seemed to take
~240µS from when the DC fires to when they're done transmitting to the ET1100.
We had the offset set at 250µS. The time the microcontrollers take can vary
somewhat, especially if the 32-bit encoders have varying read qualities.
Therefore, we believe the cause is that the EtherCAT frame would go out before
the µC finished writing to the ESC. Our fix was to bump up
CONTROLLER_LOOP_OFFSET_NS to 300µS, but we've not tried testing whether or not
this actually solves the problem.
Original comment by jrvanwhy
on 8 Sep 2012 at 1:13
Original comment by jrvanwhy
on 11 Sep 2012 at 9:47
As it turns out, the issue was caused by the loss of realtime induced by the
print statements used for calibration. Closing.
Original comment by jrvanwhy
on 3 Dec 2012 at 12:56
Original issue reported on code.google.com by
broodoo...@gmail.com
on 8 Sep 2012 at 12:28