On 4/5/2018 4:18 AM, Rick Mann wrote: > Oops, sent to soon, and forgot the list. > > In addition to the responses below, I meant to add: I don't think what I'm > seeing is overshoot by the PID loop, at least not entirely, because when I'm > not jogging it, it only twiddles the direction output. The step output is > steady without pulses. If it were hunting, I'd imagine it would be issuing > steps as well as direction changes. Check out the other video: > https://www.youtube.com/watch?v=tQkF8TRVVpk
That is the PRU stepgen hunting around the set value. You don't see any actual step pulse outputs because the PRU is hunting in a very small range which isn't large enough to generate a step pulse. The fix is to either use a HAL PID component and run the PRU stepgen in velocity mode or assign a non-zero value to the "minvel" (minimum velocity) pin of the PRU stepgen HAL component. -- Charles Steinkuehler char...@steinkuehler.net -- website: http://www.machinekit.io blog: http://blog.machinekit.io github: https://github.com/machinekit --- You received this message because you are subscribed to the Google Groups "Machinekit" group. To unsubscribe from this group and stop receiving emails from it, send an email to machinekit+unsubscr...@googlegroups.com. Visit this group at https://groups.google.com/group/machinekit. For more options, visit https://groups.google.com/d/optout.
