> steptest relies on stepgen to do acceleration limiting.
> so this line
> > position_cmd = position_fb + 2 * maxvel * fperiod;
> puts the new goal out in front of position_fb by twice the distance
> stepgen could cover in one period at full velocity.
>
> steptest maxaccel should probably just be removed.
>
> I don't know that steptest should be used for testing servo systems.
> but at a minimum you'd have to add a limit3 block to provide the
> acceleration constraint that stepgen provides internally.
>
> Jeff
>
Thanks Jeff that clears it up - I was half way there :)
Having a separate test program for servos probably
is best. Hopefully I can figure out how to make a
meaning for test.
Chris M
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