Add bootloader
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35 changed files with 27266 additions and 13 deletions
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@ -34,11 +34,11 @@ void setup_foc(MagneticSensorAS5045 *encoder, BLDCMotor *motor,
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motor->foc_modulation = FOCModulationType::SpaceVectorPWM;
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// PID Configuration
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motor->PID_velocity.P = 0.75;
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motor->PID_velocity.I = 20;
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motor->LPF_velocity.Tf = 0.005;
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motor->P_angle.P = 0.5;
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motor->LPF_angle.Tf = 0.001;
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motor->PID_velocity.P = 0.75f;
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motor->PID_velocity.I = 20.0f;
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motor->LPF_velocity.Tf = 0.005f;
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motor->P_angle.P = 0.5f;
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motor->LPF_angle.Tf = 0.001f;
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// Motor limits
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motor->velocity_limit = 40; // Speed limit in rad/s (382 rpm)
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