Template:UgPositionController

Position Controller {{{3}}}

Double-click on the Position Controller object {{{2}}} in order to run the example: [[Image:{{{1}}}_Position_Example.jpg|center|link=]]

General information about the selected object will be displayed at the top of the window. You can also experiment with the following functionality:

Controls:

• Change the target position to select which position you want the motor to try to reach.
• Press the engage motor button to allow the motor to start, and press again to stop it.
• You can zero position to return the motor's position to 0.
• Set the rescale factor to change the units of the motor's position. See the technical section of this user guide for more details.

Configurations:

• Set the deadband to determine how exactly the controller will try to reach the target position. If the motor is oscillating around the target, try increasing the deadband by a small amount.
• The target velocity can be set in the top right. The controller will use position and timing data to calculate and try to stay at the chosen velocity.
• Set the acceleration to determine how fast the controller ramps up to the selected velocity.
• You can set the control parameters (Kp, Ki and Kd) in order to change the behaviour of the control loop. See the technical section of this guide for more details.
• You can save these variables into the program so you don't have to re-enter them manually (NOTE: This does not store the settings on the {{{1}}}, it simply saves them inside the control panel program, so you'll have to re-enter them if it's used on another computer.)
• Click on show other motor settings to access Stall Velocity, which is a safety setting to protect your hardware. See the technical section of this guide for more information.

Graph:

• You can view the control data on the graph. The vertical axis is position and the horizontal axis is time. The green line is the selected target position, and the blue line is the motor's actual position. When the two lines meet, the motor will stop moving and attempt to hold that position, even if moved by an external force. You can clear the graph, and customize the number of data points shown at any given time.