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[DPRG] Encoders and PLCs

Subject: [DPRG] Encoders and PLCs
From: DeltaGraph at aol.com DeltaGraph at aol.com
Date: Thu Aug 20 18:31:20 CDT 2009

Not a real answer to your post..
Sounds like interesting problem.
I noticed that the few commercial motion controllers I have ever looked  at 
use much higher update rates than I do (or can achieve) using 8 bit  AVR, 
e.g. I use a 200 Hz loop on my laser (2 axes), but much easier proposition  
since predictable frictional loads and inertial loads. 
So will variable braking be all you need? -- OR -- would you need ability  
to apply torque to motor to accelerate it while it is decelerating if it 
gets  too slow too fast -- if that makes sense?
It seems like I always end up building my own controller in the case of  
being constrained by existing one, even if in the end mine is not as good -- 
it  generally can do something the original one could not.
Wonder if that is what you will do here. Seems like last Roborama, SawTooth 
 demonstrated a high degree of mastery of the science of motion control  
doing its snappy turns around a 10 ft square and returning to start  position 
on a dime as I recall. 
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