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fix: list nesting #310

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merged 1 commit into from
Jul 2, 2021
Merged

fix: list nesting #310

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20 changes: 9 additions & 11 deletions electrical/calibration.md
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Expand Up @@ -138,9 +138,8 @@ There has been significant feedback that the BasicMicro Motion Studio auto tune
* Navigate to the PWM Settings tab to move the corner to its ”center” position, which is where the wheel is directly forward.

* Unscrew the small gear at the bottom of the absolute encoder

* Once the absolute encoder shaft is uncoupled from the robot, spin the encoder until you determine the max value. This should be somewhere in the range of 1400-18004.

* Once the absolute encoder shaft is uncoupled from the robot, spin the encoder until you determine the max value. This should be somewhere in the range of 1400-18004.


* As opposed to the drive motors, the corners use absolute encoders that are defined in one direction only, so you cannot switch the direction of the encoder.

Expand Down Expand Up @@ -187,15 +186,14 @@ These steps assume you have already set the max/min values of the encoders in th
5. Increase the P value and then use the position slider to command the setpoint of the motor. Initially I started my P value at 10 for the first increment. The motor should move to this position. If it stops immediately at the value then the system is over-damped. Keep increasing the P value until the motor beings to have a stead-state oscillation which doe NOT damp out to the setpoint. This value is called Kc. I found mine to be usually between 10-20 for values of P, which I incremented in steps of 0.5 at a time.
6. Now that the system is oscillating back and forth you have to get the period of the oscillation. Do this by starting a timer and timing how long it takes to do 30 oscillations. For mine it was around 10 seconds. Divide that time by the number of oscillations, this gives you the period, which is called Pcr. I found this to be generally around 0.3s
7. The approximate gains can be found using the following equations:
<!-- Maybe convert the equations to graphics -->
<!-- Maybe convert the equations to graphics -->

P = 0.6Kc
<!-- (1)-->
P = 0.6Kc
<!-- (1)-->

I = 0.5Pcr
<!-- (2) -->

D = 0.125Pcr
<!-- (3)-->
I = 0.5Pcr
<!-- (2) -->

D = 0.125Pcr
<!-- (3)-->
8. Enter in these values into the GUI and use the slid bar to set the setpoint and see the motor response on the graph. More than likely what will happen is it will overshoot and do one oscillation. This means that the P value is slightly too high. Decrease the P value in small steps until you see no overshoot of the setpoint in the graph. Once that happens your corner motors will be appropriately tuned.
2 changes: 1 addition & 1 deletion parts_list/README.md
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Expand Up @@ -8,4 +8,4 @@ start of a section.
This CSV file is a standard text file; do not use Excel or Numbers to edit it as
doing so will change the encoding. The format is:

> Part Name,Project Ref Code,Model/Config,Site,Link,Sold in Packs of,Total Used in Project,Quantity to Buy,Price Each,Price Total,Used in Sections
> Part Name,Project Ref Code,Model/Config,Site,Link,Sold in Packs of,Total Used in Project,Quantity to Buy,Price Each,Price Total,Used in Sections