Slow speed control using sinusoidal waveforms. about bipropellant-hoverboard-firmware HOT 3 OPEN

You could look to VESC code for help. They may have solved that problem.

from bipropellant-hoverboard-firmware.

@EmanuelFeru -
pls look at my test branch I just pushed: https://github.com/bipropellant/bipropellant-hoverboard-firmware/tree/separateleftright

I find some interesting results when looking at slow speed positon control....

This implements STATIC use of your sine tables.
On serial, use 'If\n' to select 'fine control'.
Then keys W/S will increment through the 36 positions in rtConstP.pooled12 (etc.).
keys A/D decrease/increase current.
Take the current up to ~80, then increment the position.
q to exit/disable.
only controls one wheel.

The movement is
1/ more than I expected?
2/ not even? (4 bigger steps, 2 smaller steps).

The non-even could mean we need 'non-linear' sine tables for smooth running? Could this be one of our issues?

br,
s

p.s. also tried rtConstP.pooled15-17, same deal.

from bipropellant-hoverboard-firmware.

Aa yes, Now I put the LEFT and RIGHT wheel code together and let the Embedded Simulink coder do the re-usability of functions optimization. So, it automatically reuses functions and pieces of code where it can.

I can generate code for each wheel separate: BLDC_controllerLeft_step(), BLDC_controllerRight_step(), but then the code will increase not really double but definitely will increase.

from bipropellant-hoverboard-firmware.