I am using this variant to control a heavier robot using foc spd mode. The robot speed oscillates at the beginning of any new command. I want to change the loop parameters but i can't find their location, how does the spd converts into the cmd for each motor, i can't find any PID loop in the code that takes the speed and converts it into torque/voltage or pwm.
Variant
USART
Control type
FOC
Control mode
Speed
Description
I am using this variant to control a heavier robot using foc spd mode. The robot speed oscillates at the beginning of any new command. I want to change the loop parameters but i can't find their location, how does the spd converts into the cmd for each motor, i can't find any PID loop in the code that takes the speed and converts it into torque/voltage or pwm.