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product:usb2lds:parameters
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USB2LDS: Setting parameters
The USB2LDS has a set of parameters that can be changed to adapt the behaviour of the LIDAR control. This page only relates to the parameters of the USB2LDS, see Talking directly to the LDS if you want to get send commands to the LDS itself.
Putting the USB2LDS in setup mode
To set the parameters, the USB2LDS has to be in setup mode.
- Start a serial terminal application (like http://www.chiark.greenend.org.uk/~sgtatham/putty/!PuTTY or Arduino Serial Monitor)
- Open the Virtual serial port with a baud rate of 9600 (was 1337 with first protos).
- Send 'a' to get back an overview of the current setup.
Commands
All the setup can be managed with single-character commands.
| Command | Description |
|---|---|
| a | Display complete setup |
| L | Load default values |
| p | Decrease PID coefficient P - delta (P-=delta) |
| P | Increase PID coefficient P + delta (P+=delta) |
| i | Decrease PID coefficient I - delta (I-=delta) |
| I | Increase PID coefficient I + delta (I+=delta) |
| d | Decrease PID coefficient D - delta (D-=delta) |
| D | Increase PID coefficient D + delta (D+=delta) |
| + | Set delta to the upper decade (delta*=10) |
| - | Set delta to the lower decade (delta/=10) |
| r | Decrease RPM setpoint by 64 (RPM-=64) |
| R | Increase RPM setpoint by 64 (RPM+=64) |
| 0 | Set Feedforward mode to NONE |
| 1 | Set Feedforward mode to FIXED |
| 2 | Set Feedforward mode to PROPORTIONAL |
| f | Decrease Feedforward by 1 (feedforward-=1) |
| F | Increase Feedforward by 1 (feedforward+=1) |
| c | Decrease Feedforward coefficient by delta (feedforward_coeff-=delta) |
| C | Increase Feedforward coefficient by delta (feedforward_coeff+=delta) |
| s | Save parameters to EEPROM (careful, there is no confirmation!) |
| m | Stop the motor |
| M | Start the motor |
| g | Set Display mode to NONE |
| G | Set Display mode to GRAPH (Not Implemented Yet) |
| v | Set Display mode to VALUES |
| ' ' (space) | Set PWM to 200 to make the motor spin whatever the computation |
= PID coefficients =
- P, I and D cannot be negative and are limited to 0.
Default are 
= Feedforward =
The system accepts a feedforward value, that is to say a value that will be added automatically to the output in an effort to lighten the load of the PID. Its presence is there to counteract known and constant disturbance like the friction of the rotating assembly.
- NONE: no feedforward
- FIXED : feedforward is a fixed value (adjused with 'f' and 'F')
- PROPORTIONAL : feedforward is a percentage of the RPM setpoint (adjusted with 'c'and 'C')
Default is
product/usb2lds/parameters.1402333278.txt.gz · Last modified: 2014/06/09 19:01 by xevel
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