Today was a very unproductive one. Slept in, managed to do nothing till 2, then spend hours trying to work out why something had broken on my mouse – it was me, it was running 4 times slower because I put the line of code to tell it to run 4 times faster in the wrong place, that followed by a c# bottleneck – c#.net cannot handle 1mbit rs232 too well, its running fine at about 20% capacity, but between there and 50% capacity something goes very wrong. That lead to hours of no progress. And finally I though I may have broken one of my motors, the expensive ones, but it was fine, a bad connector, or maybe a break in the cable (think it was the former as after a lot of wiggling I cant detect a break). It must work – look at the graph bellow result.

A very messy desk

Graph if step input to motor

The ‘rough’ steady state speed of this input is about 2m/s, mwhahaha, lets hope there is some torque at 0.3m/s otherwise testing will be interesting….