Adjustable deadband in PID output, which works so that the phase angle is adjusted with output value is close to 0. This reduces oscillations when motor friction is low, especially in position control mode.
Allow read position command to work when closed loop mode is active. Instead of calling readEncoder() directly, use the latest value read by interrupt.
This pull request has two small improvements:
Adjustable deadband in PID output, which works so that the phase angle is adjusted with output value is close to 0. This reduces oscillations when motor friction is low, especially in position control mode.
Allow read position command to work when closed loop mode is active. Instead of calling
readEncoder()directly, use the latest value read by interrupt.