The PWM can't turn very quickly, nor can it move beyond the tick boundary.
CAN however, we have to tune very well to get to a good level of accuracy.
There may be a way to combine these two methods of controlling the GM6020, either by using CAN to push the GM over the boundary, or to use PWM to stabilize the motor once it has reached most of the way to where it needs to be.
pknessness
commented
2 months ago
The PWM can't turn very quickly, nor can it move beyond the tick boundary.
CAN however, we have to tune very well to get to a good level of accuracy.
There may be a way to combine these two methods of controlling the GM6020, either by using CAN to push the GM over the boundary, or to use PWM to stabilize the motor once it has reached most of the way to where it needs to be.
This is going to be wild