User Manual

RoboClaw Series

Brushed DC Motor Controllers

RoboClaw Series User Manual

BASICMICRO

4. Once your position control is acting relatively smoothly and coming close to the set position

you can think about adjusting the I setting. Adding I will help reach the exact set point specied

but in most motor systems there is enough slop in the gears that instead you will end up causing

an oscillation around the specied position. This is called hunting. The I setting causes this when

there is any slop in the motor/encoder/gear train. You can compensate some for this by adding

deadzone. Deadzone is the area around the specied position the controller will consider to be

equal to the position specied.

5. One more setting must be adjusted in order to use the I setting. The Imax value sets the

maximum wind up allowed for the I setting calculation. Increasing Imax will allow I to affect a

larger amount of the movement of the motor but will also allow the system to oscillate if used

with a badly tuned I and/or set too high.