Thanks David,
Yea its the pico
I tried that.. but no luck. I get major oscillation if i do that:
My issue isnt so much an oscillation, as it seems to be a miniature spike.. the motor.voltage_q ( blue ) in my graph slowly increases( 0.25-1 second) the effort level until ( as i understand ) until it gets to a voltage threshold where it moves the rotor, and pops back up to the setpoint instead of a gradual motion.
the total displacement is only ~1degree, but its enough to annoy the hell out of me lol
right now the setpoint and the target are ~0.01 radian off, but its enough for the effort to build.. is there a way to create an acceptable error in the pid software, so that if the target setpoint and the shaft angle are within xyz degrees, the PID essentially turns off until the next command is issued?
ideas?