<html><head></head><body><div style="color:#000; background-color:#fff; font-family:HelveticaNeue, Helvetica Neue, Helvetica, Arial, Lucida Grande, sans-serif;font-size:16px"><div id="yui_3_16_0_ym19_1_1461386657244_3725"><span>Not quite following that Sean,</span></div><div id="yui_3_16_0_ym19_1_1461386657244_3578" dir="ltr"><span id="yui_3_16_0_ym19_1_1461386657244_3577">why not have a joystick without return to center function &</span></div><div id="yui_3_16_0_ym19_1_1461386657244_3580" dir="ltr"><span id="yui_3_16_0_ym19_1_1461386657244_3579">leave it on that setting? I can see the sense in running the joystick through</span></div><div id="yui_3_16_0_ym19_1_1461386657244_3617" dir="ltr"><span id="yui_3_16_0_ym19_1_1461386657244_3618">the PLC with an over-ride on the vertical thrusters when on the depth limit,</span></div><div id="yui_3_16_0_ym19_1_1461386657244_3726" dir="ltr"><span id="yui_3_16_0_ym19_1_1461386657244_3727">I have seen commercial psubs with this feature.</span></div><div dir="ltr"><span>Alan</span></div><div id="yui_3_16_0_ym19_1_1461386657244_3679" dir="ltr"><span id="yui_3_16_0_ym19_1_1461386657244_3696"></span><br></div><div class="qtdSeparateBR" id="yui_3_16_0_ym19_1_1461386657244_3520"><br><br></div><div class="yahoo_quoted" id="yui_3_16_0_ym19_1_1461386657244_3476" style="display: block;"> <div id="yui_3_16_0_ym19_1_1461386657244_3475" style="font-family: HelveticaNeue, Helvetica Neue, Helvetica, Arial, Lucida Grande, sans-serif; font-size: 16px;"> <div id="yui_3_16_0_ym19_1_1461386657244_3474" style="font-family: HelveticaNeue, Helvetica Neue, Helvetica, Arial, Lucida Grande, sans-serif; font-size: 16px;"> <div id="yui_3_16_0_ym19_1_1461386657244_3583" dir="ltr"> <font id="yui_3_16_0_ym19_1_1461386657244_3582" face="Arial" size="2"> <hr size="1" id="yui_3_16_0_ym19_1_1461386657244_3581"> <b><span style="font-weight: bold;">From:</span></b> Sean T. Stevenson via Personal_Submersibles <personal_submersibles@psubs.org><br> <b><span style="font-weight: bold;">To:</span></b> Personal Submersibles General Discussion <personal_submersibles@psubs.org> <br> <b><span style="font-weight: bold;">Sent:</span></b> Saturday, April 23, 2016 4:31 PM<br> <b><span style="font-weight: bold;">Subject:</span></b> Re: [PSUBS-MAILIST] Speed controllers<br> </font> </div> <div class="y_msg_container" id="yui_3_16_0_ym19_1_1461386657244_3473"><br><div id="yiv9603781074"><div id="yui_3_16_0_ym19_1_1461386657244_3584" dir="ltr">Late to this thread, but I'll throw in my $0.02:</div>
<div id="yui_3_16_0_ym19_1_1461386657244_3472" dir="ltr">I had envisioned a control scheme whereby the joystick inputs are decoupled from direct thruster / ballast control output. Instead, the PAC runs the thruster outputs on the basis of PID control loops, where the setpoints are adjusted by the pilot controls. Thus, the ramp rate of the target setpoint is dependent on how far e.g. the joystick is pushed or rotated, but on letting go, the stick springs back to center, and at that point the setpoint is overwritten with the current depth, heading or what have you, and the system automatically maintains that setting until you touch the controls again. Manually commanded fully automatic.</div>
<div dir="ltr">Sean<br>
</div>
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