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[DPRG] Velocity Profiling move of RC Servos

Subject: [DPRG] Velocity Profiling move of RC Servos
From: rten at new.metronet.com rten at new.metronet.com
Date: Sun Dec 8 22:57:01 CST 2002

Premier radio control software for model airplanes uses proportional
control to send servo positioning signals. How close that is to exactly
what you are doing I don't know.

On Sun, 8 Dec 2002, Randy M. Dumse wrote:

> Hey All,
> One of the outcomes of my recent "Arm in a day" project was
> dealing with RC Servos which basically move by position command
> and driving them in such as way so they moved as if by velocity
> profiling. (I polished up this code today, added the limited
> acceleration profiling to the velocity move, and think its
> finished, now. The velocity move was done in a day, but the
> profiling took more than a day to really smooth up and
> complete.)
> In other words, when I make the RC Servos move, I ramped them up
> to a maximum speed holding a constant acceleration, hold that
> maximum speed, and slowed them down through a constant
> decceleration at the end of the move. That's the basic
> description of velocity profiling of a move. Of course I was
> running open loop, so I was commanding positions for the RC
> servo to move to, but updating those continuously so the move
> looked smooth, like a real servo under a profiled move command.
> (It actually had even thing except the feedback, which is
> something I'm working on as well).
> So I'm pretty pleased with this accomplishment, and I'm
> wondering ...is something everybody else has already done, or
> not. Is it old hat? or relatively new (as in generally
> unpublished and unknown to treat RC Servos this way)?
> Randy
> www.newmicros.com
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