Add a MotionControlMode::angle_nocascade which uses a single PID for angle control#384
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runger1101001 wants to merge 4 commits intosimplefoc:devfrom
Open
Add a MotionControlMode::angle_nocascade which uses a single PID for angle control#384runger1101001 wants to merge 4 commits intosimplefoc:devfrom
runger1101001 wants to merge 4 commits intosimplefoc:devfrom
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I think this would be a useful change. |
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As discussed here: https://community.simplefoc.com/t/motor-oscillates-when-in-cascaded-position-velocity-control-loop/4194
I've tested this and it works quite nicely. I imagine some people might find it useful.