Is smooth sinusoidal movement possible?

Support Motor controllers/drivers and motors
1

Hello, I’m controlling a Tic 36v4.

I would like to make it rotate a motor +/- 15 deg at a 3 Hz rate.

Loop
ticcmd +15 deg position
wait
ticcmd -30 deg position
wait
ticcmd +15 deg position

I then manually adjust the wait times, and speed/accel parameters to fit the oscillation rate.

Is there a more elegant/continuous way to do this?

2

The Tic doesn’t have any built-in features for doing sinusoidal motion. Aside from the way you described, you could also try splitting the movement up into many smaller movements and updating the position incrementally.

Brandon

3

Thanks Brandon, I realized that’s what I probably need to do.