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 0-2160degress for a 6:1 gearbox and the output is 360degress on output.
we added a command in the FW: COMM_SET_POS_CUMULATIVE.
- plot2.jpg (96.16 KiB) Viewed 1932 times
(vesc-tool also need to be updated)
we also updated Pyvesc and Ros driver for this new command.
- image0.jpg (171.46 KiB) Viewed 1932 times
video on actuator running ros and position control:
One problem we are still facing is how one could control the ERPM for the position control. Increasing switching frequency also increases the ERPM for the position control. Which switching frequency is recommend/max for 4.12? running 20kHz gives around 7500ERPM, 40kHz gives around 10500ERPM, 45 gives around 17500ERPM.
If anyone is interested, just give me a shout!