I am looking at hal pid component in hal documentation
and i don't understand how pid component for servo
motors driving actually works. There is only "command"
input to hal pid component (beside the "feedback"
input). How is then the constant motor speed (or
acceleration or synchronization with others motors)
achieved. If you input the desired location ("command"
input) to pid component the motor speed and
acceleration will be set according to set pid
parameters and will not be constant. Is desired path
cut to small portions and fed to pid input in suitable
time steps - if so, how is smooth movement of motor
achieved in this case?
Regards
Klemen
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