Request Phase PWM support (aka Locked Anti-Phase
GoogleCodeExporter opened this issue · 3 comments
GoogleCodeExporter commented
What steps will reproduce the problem?
1. libqwerk doesn't support different modes of driving the H-bridges on motors
12 - 16.
What is the expected output? What do you see instead?
What version of the product are you using? On what operating system?
4.0
Please provide any additional information below.
The product currently only supports Enable PWM. This can result in poor control
when the robot has high inertia. Phase PWM performs much better. Here's a link
explaining the difference:
http://list.dprg.org/archive/2011-May/035021.html
I used to use Enable PWM, and my lawnmower robot couldn't stabilize during
random spins - power gets removed from the motors as it approaches the desired
position and it swings right past as the motors freewheel with now power
applied. PhasePWM keeps full power on as you slow it down and it homes right in.
Original issue reported on code.google.com by paul.bou...@gmail.com on 5 Dec 2011 at 7:13
GoogleCodeExporter commented
It is recommended to use closed-loop control such as CQEMotorTraj::Move().
Original comment by rich.m.l...@gmail.com on 13 Dec 2011 at 10:11
- Changed state: Closed
GoogleCodeExporter commented
Original comment by rich.m.l...@gmail.com on 20 Dec 2011 at 4:36
- Changed state: Accepted
GoogleCodeExporter commented
Original comment by rich.m.l...@gmail.com on 20 Dec 2011 at 6:04
- Added labels: Priority-Low
- Removed labels: Priority-Medium