Andy Pugh wrote: > 2009/9/30 Steve Blackmore <st...@pilotltd.net>: > > >> position-interpolated - that's even worse :( >> > > Interesting. I think we need help from the big brains here :-) > > Are you saying you tried it, and it made things worse? Well, I am not surprised at all. The velocity info from the spindle encoder is ALREADY smoothed to some extent, as we know the sampling nature of the encoder-reading process neccessarily introduces some jitter. Adding an aditional filter to the process just adds more poles to the response, in EE-speak. The basic problem, as shown in your pastebin listing, is an intermittent LARGE fluctuation in count rate, if I'm reading that file right. Every 10-15 samples, the count rate jumps by 50 - 100%! No way can you smooth this. I assume every line in that file was a SERVO_THREAD sample? Now, at the spindle speed you were testing at, how many raw encoder counts were you getting per sample? If it is just one or two, then such a large variation is expected; you either got a count or you didn't get one that cycle. But, if it was getting an average of 30 counts every servo cycle, and suddenly reads 15 or 60, this is a problem that cannot be corrected after the fact.
Are you getting those annoying "Excessive realtime delay" messages when you start EMC? Have you run the latency test program for an hour and also while doing stuff on the screen (like glxgears)? Jon ------------------------------------------------------------------------------ Come build with us! The BlackBerry® Developer Conference in SF, CA is the only developer event you need to attend this year. Jumpstart your developing skills, take BlackBerry mobile applications to market and stay ahead of the curve. Join us from November 9-12, 2009. Register now! http://p.sf.net/sfu/devconf _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
