Cannot change speed whilst the motor is moving.

[AndyThirtover]

Consider:

print("Set speed to 40")
mot.updateSettings({'maxrpm':40})
time.sleep(1) # in case it takes time to make a difference
print("Goto 10")
mot.async_goto(10)
while mot.are_we_there_yet() != 0:
time.sleep(0.05)

print("STOPPED - SPEED CHANGE ON THE FLY")
print("Set speed to 80")
mot.updateSettings({'maxrpm':80})
print("Goto 50")
mot.async_goto(50)

time.sleep(5)
print("Set speed to 160")
mot.updateSettings({'maxrpm':160})

In the first case the speed change is safe. In the second case the speed change causes the motor to squeal but not move. There is a little movement after about 0.5 second.

It is possible that the chip has to do a pile of calculations when speed is changed and during this time it does not service the motor.

It is more probable that I've misunderstood what updateSettings actually does.

I expected to see something like: self.md.readWriteMultiple(regsettings,regactions)
Where VMAX would get written to the register.

Regards

Andy

[AndyThirtover]

Here's how I got it to work:

def set_speed(speedval):
    regsettings=OrderedDict((
        ('A1', 12000),
        ('V1', 4000),
        ('AMAX', 20000),
        ('VMAX', speedval),
        ('DMAX', 9000),
        ('D1', 600)
         ))
    regactions='WWWWWW'
    assert len(regsettings)==len(regactions)
    currently=mot.md.readWriteMultiple(regsettings,regactions)

Once again crude - but I shall think about it some more.

Regards

Andy