Gene Heskett wrote: > > As is, it has to be rate and/or lowpass filtered before feeding into the > PID before the rest of the PID 'adjustments' even begin to work as expected > else the PID seems overwhelmed by the noise. The software encoder counter component has a timestamp feature to provide smoother velocity estimates. Maybe this doesn't do anything on G33 typer cycles, but it definitely helps with servo performance. (I have added this feature to my PPMC and universal PWM controller board.)
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