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tinymovr / Tinymovr

Compact brushless motor controller with FOC, integrated absolute encoder and CAN Bus.
https://tinymovr.com
GNU General Public License v3.0
245 stars 43 forks source link

Velocity ramping #206

Closed eufrizz closed 2 years ago

eufrizz commented 2 years ago

Sudden changes in velocity setpoints would lead to sudden jerks and current spikes, so a ramping function is added to make transitions a bit smoother. This allows for very quick but still smooth transitions between velocities, and can be disabled by setting the velocity increment very high.

CLAassistant commented 2 years ago

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yconst commented 2 years ago

Thanks for the contribution, it looks great 👍 I'll review it and write unit tests in the weekend and then merge

yconst commented 2 years ago

Did some changes, added some tests. @eufrizz if you'd like take a look. Thanks again for the contribution!