How about tripping if the PID output is greater than a certain percentage and the encoder velocity is below a certain threshold?
Les Peter C. Wallace wrote: > I think the nuisance tripping can be avoided with the right time delay > in other words if your PID output or integral term are saturated for more > than > 50 mS or so, you are running open loop so something is dreadfully wrong... > >> I am a bit paranoid on this subject as this machine can be used as a >> manual, using high resolution MPGs. Therefore a runaway could be quite >> dangerous. >> ------------------------------------------------------------------------------ Enter the BlackBerry Developer Challenge This is your chance to win up to $100,000 in prizes! For a limited time, vendors submitting new applications to BlackBerry App World(TM) will have the opportunity to enter the BlackBerry Developer Challenge. See full prize details at: http://p.sf.net/sfu/Challenge _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
