Hello ,
i'm using PID to control position of motor with optical encoder , but i have a problem to make a slow down and speed up , near IN and OUT position . I have no idea how to do it . Right now when i reach position at which i start ramping , i disconnect position control and i'm using pid to correct decressing speed , it works , but the motor under load don't have enough power to reach point. One cannot manipulate with pwm sent to motor becouse there is always problem to reach point .
Is there any solution ?
Thanks.