PID-filter routine (2nd try).

[HenrikOlsson]

Hi Robert,
Why do you have the position reading and PID-calculation triggered by different interrupts? You should run the PID as soon as possible after getting the current position otherwise you're working with "old" information. One timer interrupt at: Get position, get setpoint, calculate error, run PID, set PWM, other housekeeping (if necessary) - done.

Can't say for sure... Perhaps the glitch appears when the QEI position register wraps from MaxCNT to 0 and/or from 0 to MaxCNT. There's also this thread which discusses the HPWM and how to change the dutycycle without upsetting it but IIRC you're using the power control PWM module so it doesn't apply.

Have you solved the other issue when the setpoint is 0 and the motor overshoots?

/Henrik.

[phoenix_1]

Hi Henrik,
Yes I was today put all in one interrupt (TMR1 , 16bit and make little trick)
Interrupt fire at 10KHZ but I have counter variable wich increment every interrupt jump and if it not 10 then servo not operate over jump servo and pwm update but when that variable mach 10 servo will operate and reset variable to zero, that meen I have 10khz interrupt with 1khz servo drive.
After that all work almost perfect but problem is still here and maybe it is in PWM update or I don't know - simple I am near it.
We will see soon...
Regards
/Robert