On Fri, Oct 14, 2011 at 09:22:00AM -0700, Kirk Wallace wrote:
> On Fri, 2011-10-14 at 10:58 -0500, Chris Radek wrote:
> > On Fri, Oct 14, 2011 at 10:50:54AM -0500, Jon Elson wrote:
> >
> > > You cold build a stupid trajectory planner as a hal component. It would
> > > take a couple
> > > parameters such as max speed and acceleration, and a pin for final
> > > position.
> >
> > This is what limit3 does.
>
> Thanks Andy, Chris, Jon.
>
> I considered limit3 but I thought it would not limit the deceleration
> until the endpoint was reached and the PID starts to call for it. This
> would draw out an overshoot, which technically, is okay, but not very
> elegant.
No, on the contrary, it does exactly what you want. It will stop
exactly at the destination endpoint without violating the given
constraints of position and derivatives. This of course means it
has to start decelerating before reaching the endpoint.
limit3 - Limit the output signal to fall between min and max,
limit its slew rate to less than maxv per second, and limit its
second derivative to less than maxa per second squared. When
the signal is a position, this means that the position,
velocity, and acceleration are limited.
------------------------------------------------------------------------------
All the data continuously generated in your IT infrastructure contains a
definitive record of customers, application performance, security
threats, fraudulent activity and more. Splunk takes this data and makes
sense of it. Business sense. IT sense. Common sense.
http://p.sf.net/sfu/splunk-d2d-oct
_______________________________________________
Emc-users mailing list
Emc-users@lists.sourceforge.net
https://lists.sourceforge.net/lists/listinfo/emc-users
