AMCBLDC – Make `Vmax` + other useful params configurable via CAN

[pattacini]

As of now, Vcc and Vmax are statically defined in the model. This prevents us from adapting those parameters to the setups/robots w/o re-generating the code.

It'd be thus great to have the possibility to tune the voltage values on the fly via CAN, for example to adapt for cable or battery voltage supply. We haven't done that yet as the current CAN protocol doesn't foresee this option.

EDIT

We may consider at this stage including other motor-related useful parameters to configure via CAN; see also #14.

In total:

• The Vmax.
• The motor resistance and inductance.
• Some control-specific params: swapBC, hall sensor offset.
• The thermal resistance, the thermal time constant, and the critical temperature.
• The environment temperature (perhaps).

[pattacini]

Actually, it turns out that Vcc can be read by the board using ADC. This would enable us to automatically adapt wrt. a constantly changing battery voltage. Opening a dedicated issue for this.

[pattacini]

cc @marcoaccame @sgiraz @fgarini @valegagge

[valegagge]

Hi guys, I just want to add a note regarding this new feature.

In AMC-BLDC, @ale-git had already implemented two motor parameters:

• swapBC: it is a boolean that lets the user simulate the motor cable swap. This is useful in case of wrong cabling.
• hall sensor offset

It would be great if these parameters were included in the new CAN protocol. We are available to discuss together where to insert these parameters.

I suggest only designing the new protocol taking in mind these parameters also, but not making them work: we can do it in a different activity.

[pattacini]

Agreed @valegagge 👍🏻 Added them up to the OP.