Well, that explains a lot. One option is to convert the D into
floating point (or fixed point with a decimal), but with an integrator
- FIR filter. You need a FIFO buffer where you put the D value, you
sum all the values in the FIFO, and if necessary divide it by the size
of the FIFO.
For
On Sun, Sep 23, 2007 at 11:06:46PM -0500, Jon Elson wrote:
So, I set both FERROR and
MIN_FERROR to 0.01 (mm) and found that I would get the following
error trip about 150 ms after motion started. The jerk at the
start of the linear acceleration ramp caused the worst error of
about
Mario. wrote:
Well, that explains a lot. One option is to convert the D into
floating point (or fixed point with a decimal), but with an integrator
- FIR filter. You need a FIFO buffer where you put the D value, you
sum all the values in the FIFO, and if necessary divide it by the size
of the
Chris Radek wrote:
On Sun, Sep 23, 2007 at 11:06:46PM -0500, Jon Elson wrote:
So, I set both FERROR and
MIN_FERROR to 0.01 (mm) and found that I would get the following
error trip about 150 ms after motion started. The jerk at the
start of the linear acceleration ramp caused the worst
Jon Elson wrote:
Chris Radek wrote:
On Sun, Sep 23, 2007 at 11:06:46PM -0500, Jon Elson wrote:
So, I set both FERROR and
MIN_FERROR to 0.01 (mm) and found that I would get the following
error trip about 150 ms after motion started. The jerk at the
start of the linear acceleration
