9/17/2018:
9-17-2018-UpwardMoves_DoorsOpen-1/2  Series of upward moves at steady speed with doors open
9-17-2018-UpwardMoves_DoorsClosed-1/2  Series of upward moves at steady speed with doors closed


9-17-2018-SineMoves-OpenDoors-0:  First attempt at sine moves following Robs spreadsheet.  Aborted due to rod twisting and bad tuning.

9-17-2018-SineMoves-ClosedDoors-1:  Sine moves with closed doors, small amplitude (slow) moves suffer from some oscillation in force.  Tuning is 
Pro:250
Int:0
Der:150
FF: 8000
FF: 12000
Accel FF: 8000
Accel FF: 12000
DeadBand Elim: 200

9-17-2018-SineMoves-OpenDoors-1:  Sine moves with open doors.  gains the same as for closed doors.  Oscillates at slow speeds, I think this is a structural resonnce in the crane.



