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by raess
15 Oct 2018, 22:50
Forum: FOC
Topic: Multi-turn position control
Replies: 4
Views: 28648

Re: Multi-turn position control

Some motion testing with new firmware over ROS.
https://youtu.be/iflbHGTBwwo
by raess
14 Oct 2018, 22:16
Forum: FOC
Topic: Multi-turn position control
Replies: 4
Views: 28648

Re: Multi-turn position control

We are working hard this weekend to implement a cascaded style position, velocity and current control loop in the VESC firmware. Now we can control multi-turn positions with speed settings. Nice!

sin_wave.jpg
sin_wave.jpg (423.78 KiB) Viewed 28592 times
by raess
10 Oct 2018, 18:41
Forum: General
Topic: FOC encoder position control
Replies: 3
Views: 10721

Re: FOC encoder position control

@pf26 can you post complete changes? For example: how is 'v_array_pointer' defined ... it's used without being defined before

Would be very interested to test this change!

Thanks
Robin
by raess
10 Oct 2018, 12:23
Forum: FOC
Topic: Multi-turn position control
Replies: 4
Views: 28648

Re: Multi-turn position control

So we need some help, for example, how is the ERPM used in the actual foc position controller? and how could the ERPM be changed at motor running time?
by raess
08 Oct 2018, 22:28
Forum: FOC
Topic: Multi-turn position control
Replies: 4
Views: 28648

Multi-turn position control

So we made a a couple of changes in the FW to handle multi-turn position control. The modified FW is based on 3.33, Which was working quite nice for us. we do no longer compute shorted angles , we use full revolutions. The encoder position still remains degrees. For example one can control 0-2160deg...
by raess
02 Apr 2018, 22:45
Forum: Feature Requests
Topic: Out of the box support for AS5048
Replies: 9
Views: 15257

Re: Out of the box support for AS5048

I also have the same problem with the AS5048A and the AS5047D . they reads position between 180 and 360 very well and not at all 0-180. I have tried to compile the latest FW with your suggestions pf26 but that had no effect on the outcome of the readings. // Software SPI static void spi_transfer(uin...
[phpBB Debug] PHP Warning: in file [ROOT]/vendor/twig/twig/lib/Twig/Extension/Core.php on line 1236: count(): Parameter must be an array or an object that implements Countable

[phpBB Debug] PHP Warning: in file [ROOT]/vendor/twig/twig/lib/Twig/Extension/Core.php on line 1236: count(): Parameter must be an array or an object that implements Countable

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