I apologize if these questions have been answered, but I could not find answers in the forum (tho one from 2008 came close).
I have a Maestro Micro. The User’s Guide says “The speed limit is given in units of (0.25 μs)/(10 ms)”. I extrapolate to assume that the Maestro changes the target every 10 ms. True?
If this is true, with the speed is set to N, every 10 ms, the Maestro adds N x 0.25μs to the target. True?
With my servo, 0 degrees is 815 μs and 180 degrees is 2125 μs (it is designed to travel 270 degrees). That means for the servo, there are 7.278 μs/degree, which equates to 29.111 0.25μs units per degree.
I wish to move 0.5 degree and then stop, do something (sample a LIDAR device), and repeat. 0.5 degree is 14.556 (0.25μs) units. Round the target delta to 15 units. If I set the speed = 1. I think it will take 14 10ms periods to move to the desired target (assume the initial target is (current position + 1) is at time 0. Using the same logic, if the speed = 2, I think it will take 7 periods. If the speed = 4, I think it will take 3 periods. If the speed = 5,6,7, I think it will take 2 periods. If the speed = 8-14, I think it will take 1 periods. If the speed >= 15 I think it will take zero periods, since the new target is (current position + speed > = new target).
Does this make any sense based on the true operation of the device?
The User’s Guide says “The acceleration limit is a value from 0 to 255 in units of (0.25 μs)/(10 ms)/(80 ms)”. I infer that the speed can change only every 80 ms. Is this true?
In my 0.5 degree use case above, the time to reach the target is only greater than 80 ms when the speed is 1. That seems to suggest that acceleration either fails or does nothing for speeds 2-14. Have I got that right?
Thanks for any illumination on these subjects.