SDC2130, PID integrator component gets reset every few seconds.

7 years 2 months ago #29528429 by Griffin Baker
Thank you for the data log.

It definitely appears there is an issue with the controller. I can see that motor command is constant, yet the motor power applied seems to randomly drop out of the blue.

Let us look into this matter a little further. I'm not sure exactly how old your controller is and what has changed since but I will take a look and see what may be the issue if it is hardware related or firmware related.

Also if you haven't already done so, make sure your version of Roborun+ is up to date as well.

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7 years 2 months ago #29528430 by sd1074
Roborun is new, yes.
I think the log I attached here is actually more detailed then Roborun log, because it provides an update every 1ms.

There you can see that with constant command (!G 2 35) applied and error close to zero (first column of the log) the I-controller applies a constant power around 89 (second column), and everything is fine and stable, but then at line 174 the power just falls to zero. I believe this shouldn't be happening.

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