motorspeeds.md (1248B)
1 # LMOTOR_RAW_VALUES 2 0 15251 3 50 12141 4 100 10345 5 150 8402 6 200 6487 7 250 4623 8 300 2794 9 350 976 10 400 0 11 450 1547 12 500 2983 13 550 4364 14 600 5900 15 650 7318 16 700 8688 17 750 10028 18 800 11344 19 850 12744 20 900 13972 21 950 15152 22 23 # RMOTOR_RAW_VALUES 24 0 16704 25 50 14724 26 100 13035 27 150 11291 28 200 9481 29 250 7583 30 300 5692 31 350 3805 32 400 1950 33 450 0 34 500 1114 35 550 2925 36 600 4734 37 650 6527 38 700 8329 39 750 10131 40 800 11808 41 850 13536 42 900 15094 43 950 16595 44 45 ## Finding Null-point 46 47 From the above raw data, we can plot 2 lines (one for each motor). 48 These will form a line reflected around the null-point for each motor, and by 49 negating the values before the null-point we can get 2 straight lines. The 2 50 line segments form similar triangles, from which we can interpolate the true 51 value of the null point. 52 53 ## LNULL 54 55 350, 976 56 450, 1547 57 58 x / 976 = ((450 - 350) - x) / 1547 59 1547x = 97600 - 976x 60 2523x = 97600 61 x = 38.68 62 x ~= 39 63 64 LNULL = 350 + 39 65 LNULL = 389 66 67 ## RNULL 68 69 400, 1950 70 500, 1114 71 72 x / 1950 = ((500 - 400) - x) / 1114 73 1114x = 195000 - 1950x 74 3064x = 195000 75 x = 63.64 76 x = 63 77 78 RNULL = 400 + 63 79 RNULL = 463 80 81 ## Matching Motor PWM Gains 82 83 The two motors will have different responses, since they run in two different 84 directions (and the motors may have a preferred direction in which they run 85 faster).