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ABI encoder rpm control

Posted: 13 Dec 2017, 16:19
by Drimonas

I would like to ask if VESC can perform speed control using a connected encoder.

I need this because I am using VESC with a DC motor. The motor is connected to a gearbox and at the output of the gearbox I have attached an ABI encoder. The encoder is the only way for VESC to know the rotational speed of the motor.

But I went through the code and I think that the encoder is only used for position control.

Is there a configuration to use the encoder for speed (rpm) control? If not, does anyone have any idea/guidelines on adding this feature to the fimrware?

thank you