According to the manual, sending the Velocity PID values over UART should be ordered as DPI
Send: [Address, 61, D(4 bytes), P(4 bytes), I(4 bytes), MaxI(4 bytes),
Deadzone(4 bytes), MinPos(4 bytes), MaxPos(4 bytes), CRC(2 bytes)]
This works when setting the velocity values. P=1, I=0, D=0 sent as 0-1-0 gives movement.
Position PID does not behave this way. Sending P=1, I=0, D=0 as 0-1-0 results in no movement. *However* sending 0-0-1 does. Is the 'P' gain parsed from the wrong spot in the UART control?
It's my understanding that the only PID gain that is required is 'P' and you will always get movement of some sort if you have 'P' set to a value but 'I' and 'D' set as 0. Thus logically 'P' is for position is not where it is supposed to be.
Am I misunderstanding something? Or does position control with P=0, I=1, D=0 actually work where P=1, I=0, D=0 does not?