Pico USC Following Error

With 3 IPS (180 IPM) max you could have up to 100,000 steps per inch
= 20,000 steps per turn and stay below the 300 K limit.

PID_MAX_VEL = 1.25
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ Does this limit your maximum velocity?

Somehow I got the impression that PID_MAX_VEL was a multiplier. That explains the limit I was observing. I'll try a larger value tomorrow.

Chris

cprhodin wrote:

Somehow I got the impression that PID_MAX_VEL was a multiplier. That explains the limit I was observing. I'll try a larger value tomorrow.

Chris

Nope. MAX_LINEAR_VELOCITY is the maximum the interpreter will permit, and the trajectory planner will ever ask for.
In real servos, PID_MAX_VEL gives the PID calculation a little more headroom for when the axis gets behind the programmed velocity, so it has the possibility to catch up.

Jon