SDC2130 control via PWM with encoder closed loop control problem

[Dave Rodda]

Hello…this appears to be related to the integral component of the PID control. When I set the integral gain to 0 and just use the proportional term, there is no blip. I don’t know if there is some kind of reset on the integral every few seconds, but it is creating a jerk every four-five seconds.

[SuperDroid]

Hi Dave,
In speed control the I is the most important and must be set up first, you can take a look in the following link page 126 PID tunning in closed loop speed mode.
https://www.roboteq.com/index.php/docman/motor-controllers-documents-and-files/documentation/user-manual/272-roboteq-controllers-user-manual-v17/file

Make sure that you can spin the motors in the run tab in Roborun+, once that is working try sending commands, I would recommend using serial to comunicate with the roboteq, here example code.
https://github.com/SuperDroidRobots/SDC2130-Example

[Author]

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