2009/10/20 Haberler Michael <[email protected]>: > I dont fully understand the trajectory planner, but my gut feeling > it's a control loop oscillation which gets excited with the encoder > quantization/noise spectrum gets too close to the loop frequency.
The problem seems to be with a bad initial velocity estimate. Chris Radek came up with a patch that gave me a huge improvement with my 50ppr bit-of-laserprint-wrapped-round-the-spindle "encoder" I suggest you give it a try, though it does involve compiling your own development version of EMC2 at the moment. patch: http://timeguy.com/cradek-files/emc/0001-Improve-initial-threading-synchronization.patch Before : http://imagebin.ca/view/XLxWqSm.html After : http://imagebin.ca/view/RYa7Qqpm.html -- atp ------------------------------------------------------------------------------ Come build with us! The BlackBerry(R) Developer Conference in SF, CA is the only developer event you need to attend this year. Jumpstart your developing skills, take BlackBerry mobile applications to market and stay ahead of the curve. Join us from November 9 - 12, 2009. Register now! http://p.sf.net/sfu/devconference _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
