This implements functions to use the internal torque biquad filter which is running at the full PWM rate (25kHz).
It allows smoothing all torque data at a high sample rate by using a lowpass or reducing a resonance with notch and peak filters.
Smoothing should only be done at medium high frequencies of 200Hz and above because this will limit the bandwidth of the overall response and can lead to unstable conditions and oscillations with some effects.
Be careful with this setting and start with the filter disabled while tuning other parameters.
This implements functions to use the internal torque biquad filter which is running at the full PWM rate (25kHz).
It allows smoothing all torque data at a high sample rate by using a lowpass or reducing a resonance with notch and peak filters. Smoothing should only be done at medium high frequencies of 200Hz and above because this will limit the bandwidth of the overall response and can lead to unstable conditions and oscillations with some effects. Be careful with this setting and start with the filter disabled while tuning other parameters.