Greetings;
Some things in the man 9 pid page are too well hidden in the
mathematical "jargon".
So can we clarify a few things?
like:
pid.N.command-deriv float in
The derivative of the desired (commanded) value for the
control loop. If no signal is connected then the derivative will be
estimated numerically.
What for instance, would/should be connected here, and what would be the
desired result of such a connection? And in this context, what is a
derivative?
Like:
pid.N.error-previous-target bit in
Use previous invocation's target vs. current position for
error calculation, like the motion controller expects. This may make
torque-mode position loops
and loops requiring a large I gain easier to tune, by
eliminating velocity-dependent following error.
Again to use this, what do we setp it to, mine is set true, and what
would be the desired effect?
Like:
pid.N.error float out
The difference between command and feedback.
This, on my G0704 seems to be a constant zero at any gain setting of the
halscope. What is this trying to tell me? And yes, its suitably
addf'd. :)
Thats enough for one email session, but there is more to clarify
eventually.
Thanks for any clarifications.
Cheers, Gene Heskett
--
"There are four boxes to be used in defense of liberty:
soap, ballot, jury, and ammo. Please use in that order."
-Ed Howdershelt (Author)
Genes Web page <http://geneslinuxbox.net:6309/gene>
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