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Adjust phase when close to target, allow read_position to work while in closed loop mode #41

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Adjust phase when close to target, allow read_position to work while in closed loop mode #41

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Commits on Jan 12, 2020

  1. Add phase adjust / deadband for PID controller 

    Currently the PID loop always uses either + or - maximum phase advance.
This means that when the PID output value is 0, there is no torque applied.
This causes the motor to zoom past the setpoint if there is no external friction
to stop it, which in turn causes a lot of oscillations.

This commit adjusts the phase angle when PID output is close to zero, which
acts to brake the motor and allows it to stop accurately between steps also.
    @PetteriAimonen
    PetteriAimonen committed Jan 12, 2020
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  2. Allow 'read position' command to work while in closed loop mode.

    @PetteriAimonen
    PetteriAimonen committed Jan 12, 2020
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    3c4c7a7 View commit details
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