On 04/29/2020 12:54 AM, John Dammeyer wrote:
Here's my question for you. If the asynchronous pulse
generator from your $1 chip has just created a pulse and
the SERVO_PERIOD now wants to a new rate how do you set up
the frequency generator so that the next pulse is
correctly spaced from the previous one? Or do you just
hope it works out?
The trajectory planner uses a specified acceleration rate to
change the commanded velocity in small increments. Remember
this is typically recomputed 1000 times a second. So, there
will not be huge jumps in commanded velocity. Therefore,
the change in time between steps will not be large, so the
motor can follow it properly.
Jon
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