The Velocity Settings screen is used to set the encoder and PID settings for speed control. The screen is also used for testing and plotting.
The Velocity Settings screen (source: PDF page 27).
Graph
Function
Description
Grid
Displays channel data with a 100 ms update rate and one second horizontal divisions.
Velocity Settings
Function
Description
Velocity P
Proportional setting for the PID.
Velocity I
Integral setting for the PID.
Velocity D
Differential setting for the 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.
Control
Function
Description
Motor 1
Motor 1 velocity control (0 to ±maximum motor speed).
Motor 2
Motor 2 velocity control (0 to ±maximum motor speed).
On Release
Will not update the new speed until the slider is released.
Sync Motors
Synchronizes the Motor 1 and Motor 2 sliders.
Control – Motor 1 / Motor 2
Function
Description
Accel
Acceleration in encoder counts/sec² (0 uses the default).
Speed
Current speed in encoder counts/sec (read-only).
Slider Range
Sets the maximum speed range for the control sliders. By default, the full forward-to-reverse range is used. Lowering the range makes it easier to control high-speed motors.
Control – Autotune
Function
Description
Tune M1
Starts the auto-tuning process for channel 1.
Level (M1)
Adjusts PID aggressiveness (left = less, right = more).
Tune M2
Starts the auto-tuning process for channel 2.
Level (M2)
Adjusts PID aggressiveness (left = less, right = more).
Graph Channels
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
