After spending some forum time trying to help a customer with tuning a torque
mode drive, I have noticed that ferror is calculated incorrectly and if
minimized will result in less than optimum actual error.
The error appears to be that ferror is calculated before the trajectory is
calculated so it always compares the previous waypoint with the current
(encoder) position. This is easily see by the difference in ferror from the
PID error (they should be the same)
This causes a value equal to the velocity in machine units per second*servo
thread_period to be added to the ferror.
Peter Wallace
Mesa Electronics
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