a few of you may have read this discussion:http://lejos.sourceforge.net/forum/view ... sc&start=0
over on the leJOS forum. It contains an interesting discussion into the characteristics of the Lego and leJOS motor controllers. I thought the results and techniques might be of wider interest hence this thread.
The story all started with leJOS unroller doing some tests. His blog explains it all here:http://nxt-unroller.blogspot.com/2010/1 ... s-and.html
I had also been some work on the leJOS driver (to fix some problems we had with smooth acceleration), and I used unroller's tests to help me test and improve the driver. You see some of the details here:http://www.gloomy-place.com/lejosmotor.htm
unroller has continued working on his own motor controller (using a technique called feed-forward), there are more details of this here:http://nxt-unroller.blogspot.com/2011/0 ... d-for.html
Finally as part of the work I've been doing I wanted to find a way to let me observe the quality of the motor control in a moving robot. I came up with a technique using a laser and my dSLR, I've made a short video of how it works and some results here:http://www.youtube.com/watch?v=NJ_6Qm_BNFI
Hope some of you find the above of interest...