Current/Torque Modeling Fixes - #169
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guyfleeman wants to merge 3 commits into
Open
guyfleeman wants to merge 3 commits into
guyfleeman wants to merge 3 commits into
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I need to do a review, but this is exhibiting the correct behavior according to the data sheet on a scale, and static (mostly cogging) friction and stribeck friction look modelable now at the low end. The sync sampling mode is enable, but async/filtered mode (which represents electrical power not torque) is still available it's just not used for the current control loop now. Accessor functions are available in C code for both modes, and the estimated mode, which diverges at 0 vel but is usable if sync sampling isn't available or needs cross checking.
The packets got a bit mucked up for me to debug values. That's the main thing that needs clean but I think this is fine to start testing.