Roborun Issue - Closed Loop Speed Mode

6 years 7 months ago - 6 years 7 months ago #29528435 by AndLydakis
Greetings, I am currently fiddling with an SDC2130 controller through the Roborun Utility. I am working on a 4-wheeled differentially driven robot to which I have two motors connected and want to use them in closed loop speed mode. The issue that I am facing is that when I issue a command to one of the motors through the Run tab, using the sliders, both of them start moving. So both are always moving to the direction of the one that moves first, and I am not able to set different speeds for each side (left-right). In Open Loop each side is independent and works fine. Any help on what is causing this problem would be appreciated.

EDIT: I don't seem to be able to upload the configuration screenshot, will try again later, so here are the configuration (same for both wheels):
PMV : 1000
Turns Min to Max :100
Proportional Gain : 2.0
Integral Gain : 0
Differential Gain : 0
Integrator Limit(%) : 1
Loop Error Detection : Disabled

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6 years 7 months ago #29528436 by Griffin Baker
Replied by Griffin Baker on topic Roborun Issue - Closed Loop Speed Mode
Did you make sure the "join" button to the left of slider is not selected?

Also is your mixing mode set to separate or mixed mode (1, 2, or 3)?

If you are uploading a file, try uploading a zipped version.

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6 years 7 months ago - 6 years 7 months ago #29528450 by AndLydakis
Yes, the join button is unchecked. I tried all 4 mixing modes and what i got is that in seperate, when I issue a command to one motor, both move in the same direction, but when I switch to mixed (1,2, or 3) they move in opposite directions.

ΕDIT : Another thing I noticed in the graphs below is that when I issue commands to one of th motors, the other one also increases its RPM but without registering a command given

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6 years 7 months ago #29528451 by Griffin Baker
Replied by Griffin Baker on topic Roborun Issue - Closed Loop Speed Mode
The closed loop speed mode works with I gain over the P gain. Change your P gain to 0 and your I gain to 2 to start, and gradually increase your I gain and add some P gain if necessary.

You'll also want to set your max speed RPM in your speed and acceleration parameters as well.

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6 years 7 months ago - 6 years 7 months ago #29528452 by AndLydakis
Still the issue remains, when I issue a move command to one of the motors, both of them move, starting and stopping erratically.
Maybe I'm not understanding this correctly. I'm trying to issue a speed goal for one of the motors, that it will try to achieve, independetly from the other. Isn't this the way to go ?

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6 years 7 months ago #29528453 by Griffin Baker
Replied by Griffin Baker on topic Roborun Issue - Closed Loop Speed Mode
You can try an older firmware and see if you have the same problems.
Attachments:

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6 years 7 months ago - 6 years 7 months ago #29528463 by AndLydakis
I tried to update firmware by USB throught Roborun and now the controller is not detected at all.

EDIT: I can make the controller be detected again by power-cycling (obvious, but didn't occur to me earlier). However, when I select the option Update Controller Firmware via USB, after the message that sais tha DFU Loader is about to be launched, I get a
message that the controller has been lost and the update can't be completed.

This happens on a Windows XP virtual machine run on Ubuntu 12.04, current firmware is v1.2RCB100 07/27/2012

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6 years 7 months ago #29528464 by Griffin Baker
Replied by Griffin Baker on topic Roborun Issue - Closed Loop Speed Mode
The usb disconnects itself form the Roborun+ interface when doing the update, so controller is supposed to be lost. The next step that should occur is that the DFU for first time run, should begin installing the DFU STM32 drivers. If those drivers don't install, then the controller can't upgrade/downgrade.

Since you are running this on a virtual machine, there is no knowing what may happen. But for best results, I recommend you use a real windows based O/S for operations.

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