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vedderb / bldc

The VESC motor control firmware
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Add basic ppm position control mode #464

Closed Teslafly closed 2 years ago

Teslafly commented 2 years ago

Closes https://github.com/vedderb/bldc/issues/205 Probably closes https://github.com/vedderb/bldc/issues/319 too.

Adds a position control mode to the PPM app that enables the vesc to become a ppm/pwm input servo.

This tries to be somewhat intelligent during starts. After safe_start elapses, it will wait until the pwm angle and motor angle are close before switching to position control mode. This should prevent large jerks and big sudden movements when powering on or recovering from a safe_start signal loss event.

Will attach qt xml when PR ready.

Teslafly commented 2 years ago

Tonight I tried to put together a coherent help section for vesc tool on this.

image

Since github doesn't allow attaching xml files, xml here: https://github.com/Teslafly/vesc_tool/blob/add_ppm_position_control_settings_help/res/config/6.00/parameters_appconf.xml

Any suggestions here? Too verbose?

I think I like the logic where it is at for now. Any other thoughts?

Teslafly commented 2 years ago

Is there anything else that must be done to get this merged? I think it is in a good state.