John Kasunich wrote: > Don't use position-interpolated as feedback for position control. > Period. > > It even says that in the manual (I think). The problem is that as speed > approaches zero, and reverses, the interpolator keeps guessing at the > position until it sees the next encoder count. Those guesses will drive > the PID loop nuts. > Worse than just simple delay, a non-deterministic delay. Yeah, I was afraid of that.
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