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Feature/bldc driver update #5

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Merged
finger563 merged 2 commits into from
Aug 1, 2023
Merged

Feature/bldc driver update #5

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f2cf34b
submodule(espp): update
finger563 Aug 1, 2023
8ffb38f
feat(main): always calibrate
finger563 Aug 1, 2023
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2 changes: 1 addition & 1 deletion components/espp
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Submodule espp updated 130 files
9 changes: 5 additions & 4 deletions main/main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -108,10 +108,11 @@ extern "C" void app_main(void) {
5.0f, // tested by running velocity_openloop and seeing if the veloicty is ~correct
.kv_rating =
320, // tested by running velocity_openloop and seeing if the velocity is ~correct
.current_limit = 1.0f, // Amps
.zero_electric_offset = 2.3914752, // gotten from previously running without providing this
.current_limit = 1.0f, // Amps
.zero_electric_offset = 0.0f, // set to zero to always calibrate
// and it will be logged.
.sensor_direction = espp::detail::SensorDirection::COUNTER_CLOCKWISE,
.sensor_direction =
espp::detail::SensorDirection::UNKNOWN, // set to unknown to always calibrate
.foc_type = espp::detail::FocType::SPACE_VECTOR_PWM,
.driver = driver,
.sensor = mt6701,
Expand All @@ -135,7 +136,7 @@ extern "C" void app_main(void) {
.output_min = -20.0, // angle pid works on velocity (rad/s)
.output_max = 20.0, // angle pid works on velocity (rad/s)
},
.log_level = espp::Logger::Verbosity::WARN});
.log_level = espp::Logger::Verbosity::INFO});

using BldcHaptics = espp::BldcHaptics<BldcMotor>;

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