09 — Strategies for motor control

5/2/2019

Todays topics

• Separation of initialization and motor control• Jupiter• Great for debugging and interaction with motor

controller• Bad for “realtime” control

• Python command line• Great for “realtime” control• More challenging to debug and interact with

controller

A separationJupyter PyCharm

Python from the terminal

Calling a script with -i dumps you to the interactive prompt after the script runs

A simple spring model

Lets look at how it performs

Takeaways

• Partition setup and debugging code from operation code

• When using discrete feedback models, note that energy is not conserved — Instabilities without damping