When stable its value is about 65, meaning that the motor runs at about 65% of its maximum. This is a measure of he amount of power sent to the motor. The light blue line is the Pulse Width Modulation value. The motor runs at about 500 encoder ticks per second when it is stable. The dotted line is the actual speed of the motor. The dark blue line represents the regulated speed level. The graph shows 2 seconds of action, updated every 0,2 seconds. I used NXT2excel to fetch the data in excel. Here is a graph I made of the speed control in action. One of the advantages of robotC is that one has very good regulated speed for the NXT motors. Here is an example of the robotC PID speed control in action. My new utility NXT2excel proves to be very useful to examine the NXT closely.
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