Phidgets Forums

Many position control systems include an 'in position' event, raised when the motor is within the deadband window. This enables simple, non-blocking calls to make a move: go, and let me know when you're there.

Some moves are composite, also called on-the-fly moves: Start moving with motion parameter set 1 (velocity, acceleration, tuning parameters). When in position, change to motion parameter set 2. A common example is when the system's dynamics change mid-move - a sliding platform contacts something it must push, for example.

Phidget22 includes getPosition, which can then be tested against setTargetPosition. Before I code this up, the loop seems like it would be slow and intensive (bandwidth, processor).

Is there a way to achieve this using Phidget22?

While there is no "Motion Complete" event, you could potentially use the PositionChange event to check whether your motor is near the target position and set a flag from there, moving the bulk of the comparison out of your main loop.

That approach works great, especially considering this is a 24 pulse/rev (commutations/rev) motor.