For the "software detent" wheel, I wrote a HAL component that takes
the motor's feedback position and outputs the nearest position that was a
multiple of 1/k revolutions. PID takes this value as the commanded
position, and moves the motor towards it, but using a 'pid.N.maxout' that
limited "how hard" it would steer the motor. So ASCII-graphically, the
structure was something like:
feedback -> steer -> pid -> pwmgen -> (motor -> encoder) -> feedback
^ feedback
Turning the wheel/knob felt more like turning a stepper with a winding
being weakly driven than it felt like turning a jogwheel with detents.
Jeff
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