For vesc_hw_interface command: position, aka using vesc motor as a servo, we need to apply a certain load on the motor to calibrate the zero position, as shown below.
This will degrade the hardware overtime, so instead, I propose adding an option to use external sensors, such as photo sensors, to calibrate the zero position.
Abstract
For vesc_hw_interface command: position, aka using vesc motor as a servo, we need to apply a certain load on the motor to calibrate the zero position, as shown below.
https://github.com/sbgisen/vesc/blob/42ab7ed84c3c47ff934e8d0a3aa7237fe90d83be/vesc_hw_interface/src/vesc_servo_controller.cpp#L287-L289
This will degrade the hardware overtime, so instead, I propose adding an option to use external sensors, such as photo sensors, to calibrate the zero position.
Purpose
Implementation Details