Position Settings

The Position Settings screen is used to set the encoder and PID settings for position control. The screen is also used for testing and plotting.

Function	Description
Grid	Displays channel data with a 100 ms update rate and one second horizontal divisions.
Scale	Sets the vertical scale to fit the range of the specified channel.

Function	Description
Channels	Selects the data to plot for a given channel. The selected value is graphed in the color shown. The available channel options are listed below.
Save CSV	Saves the collected data to a CSV file.
Clear	Clears the channel’s graphed line.

Setpoint: the commanded duty, speed, or position, depending on the active screen
PWM: actual motor PWM (duty cycle)
Speed: current encoder speed (one-second average)
iSpeed: current encoder speed (instantaneous)
Speed Error: current velocity PID error
Position: current encoder position
Position Error: current position PID error
Current: motor current in amps
Temperature: motor/controller temperature (°C)
Main Battery: main battery voltage
Logic Battery: logic supply voltage

Function	Description
Velocity P	Proportional setting for the velocity PID.
Velocity I	Integral setting for the velocity PID.
Velocity D	Differential setting for the velocity PID.
QPPS	Maximum speed of the motor in encoder counts per second.
L	MCP only. Motor inductance in henries.
R	MCP only. Motor resistance in ohms.
Error Limit	The absolute speed PID error value that, when exceeded, triggers a velocity error condition.
Position P	Proportional setting for the position PID.
Position I	Integral setting for the position PID.
Position D	Differential setting for the position PID.
Max I	Maximum integral windup limit.
Deadzone	Zero position deadzone. Increases the “stopped” range.
Min Pos	Minimum encoder position.
Max Pos	Maximum encoder position.

Function	Description
Motor 1	Motor 1 position control (0 to ±maximum motor speed).
Motor 2	Motor 2 position control (0 to ±maximum motor speed).
On Release	Will not update the new position until the slider is released.
Sync Motors	Synchronizes the Motor 1 and Motor 2 sliders.
Accel	Acceleration rate used when moving the sliders.
Decel	Deceleration rate used when moving the sliders.
Speed	Speed to use with the slider move.
Position	Numeric value of the slider motor position.
Autotune	Method used. PD = proportional and differential. PID = proportional, integral, and differential. PIV = cascaded velocity PD plus position P.
Tune M1	Starts motor 1 velocity auto tune.
Level (M1)	Adjusts motor 1 PID aggressiveness (left = less, right = more).
Tune M2	Starts motor 2 velocity auto tune.
Level (M2)	Adjusts motor 2 PID aggressiveness (left = less, right = more).