torque
7bdea9644c
The serial interface on the MD-01 seems to be extremely slow (this is with USB serial, though the RS232 ports probably have the exact same issue. It seems that sending requests too quickly may negatively impact the performance of the controller/rotator (i.e. makes it shake more)? I'm not exactly sure this is the correct conclusion, since our timings do not compensate for the actual communication time with the MD-01 (i.e. the 100ms poll rate sends the next request at least 100ms after it has received a reply). However, based on empirical testing, running these at a lower pace (perhaps particularly, the command frequency?) seems to make a big difference in the amount of shake observed. We will need to keep an eye on this over time.