Find out a best control strategy for controlling speed of the motors

thekonon / WritingRobot

My repo for CAN comunication between Raspberry (Python UI) and STM32 MCU

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Find out a best control strategy for controlling speed of the motors #15

Open thekonon opened 2 months ago

thekonon commented 2 months ago

MSGs over the CAN will send needed step position of the motors, STM should handle smooth acceleration and decceleration for smother movement of whole robot. Question is how to do that.

Ideas:

add a msgs indicating to slow down

thekonon commented 1 month ago

Currently it seems I will split my traectory to linear parts and each linear part will be controlled via timer interruption - i have to write about it to wiki