Drawer

Controls

6 sheets in this drawer.

  1. Loop timing that matches your sensor's real bandwidthControl loops run at the speed your code permits, not the speed your sensor delivers. Measure what you're actually sampling before you tune gains that fight aliasing.
  2. PWM frequency you'll hear before your motor doesAudible whine from motor drivers isn't a feature. Push your PWM carrier above 20 kHz or accept the complaints.
  3. Debounce switches in firmware, not hopeMechanical switches bounce. Your interrupt handler doesn't care about your optimism.
  4. Encoder quadrature you'll decode without the phase chartIncremental encoders give you direction and distance, but only if you sample both channels correctly. Here's how to wire and poll quadrature without consulting the timing diagram every build.
  5. PID tuning without the spreadsheet theaterStop guessing gains from blog posts. A disciplined step-response test and three coefficients you measure yourself will outperform any magic number you found online.
  6. Knobs that feel honestIf the detent lies about the value, the whole device starts lying.