OpenServo.com

[ahoeben]

As I have mentioned before, I am using HS-785HB servos. These multiturn servos are relatively slow; it takes around 5 seconds to do the ~8.75 full 360 turns that the servos is capable of, at full speed. As a result, the velocity measurements rarely exceed 1 (or -1) even at full speed, leaving the velocity value rather useless.

Would it be possible (and hopefully usefull for other servos too) to add a 'velocity multiplier' register? This would read the velocity value over longer (or shorter?) periods than it does currently, resulting in higher (or lower) values. The PID values probably need to be retuned after changing the velocity multiplier, but I don't quite understand enough about those values to be sure.

[ginge]

You could also think about upgrading to the version 3-dev branch of OpenServo, which enabled the back emf velocity meansurement hardware. You will get better results than trying to multiply a very small number.

Barry
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