by LROBBINS » 24 Jun 2019, 11:56
Will,
I compared my copy of "analog 2018_12_06 AccelPot added" with my latest plain analog script. I also compared my current analog script with archived versions, and the same for the last "AccePot added" script with archives of those. There are some differences between the "AccelPot added" script and the plain analog script. Most are just user settings such as pin assignments that are clearly irrelevant to this instability, but there were three differences that might be contributing.
You have MotorResistance = 75 while I have MotorResistance = 50 -- you may have too much compensation.
You have LowIBoost = 50 while I have LowIBoost = 0 -- this may cause overcompensation at very small stick especially in combination with MotorResistance = 75. I'd start with it set to 0 and only add some (with caution) if you need more compensation at low stick.
BUT, most importantly your StickSensitivity: subroutine has quite a few differences from mine, and that different StickSensitivity coding matches with archived versions of the "AccelPot added" script. Thus, I think that when I edited the "AccelPot added" script several versions back to include the analog updates I missed making the changes to StickSensitivity: and that lack carried over through all newer versions. I have not tried to figure out whether these differences could make things unstable, but that subroutine has enough differences that I think you should replace it with mine. I've attached a StickSensitivity.txt.zip file with the proper version of just that subroutine. Take off the zip suffix, open it in a text editor and copy/paste it into your script in place of the existing subroutine.
There is also one thing that is not different between our scripts, but that might be contributing. Accel = 9000 in both, but the Roboteq's meaning of acceleration is different for brushed and brushless motors. For brushed, it is change of PWM over time, for brushless it is change of RPM over time. 9000 may be much too high.
Vitold may be pointing to some of the same compensation and acceleration problems, but I've not seen his script nor a detailed description of the problems he found, so it's hard to know.
I think that this script testing should be continued on the board rather than moved to e-mail: what you find may be important for other users as well. It may be best to start a separate thread, however, for script testing rather than confusing the Willchair Three thread.
What would be worth doing via e-mail is to send me copies of the script you just tested (so that I can compare it with the one I have) and of your configuration profile file (so I can see if I might spot some brushless specific settings that might be causing a problem).
Ciao,
Lenny
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