2023-12-05, 12:35 AM
Oh, OK. I get it now.
Position control would be interesting to implement. In going through motor.ino I didn't see anywhere where command is interpreted as a position. Did I miss something?
Putting the PID loop on the controller, it would be interesting on STM32 to use RTOS and put the PID loop in a separate thread. I have used freeRTOS that comes with STM32 for a while and it is pretty good. I was actually thinking of developing my current version of motor on RTOS with separate threads for control and communication but that is another rabbit hole to run down. Thought I would keep it simple.
Position control would be interesting to implement. In going through motor.ino I didn't see anywhere where command is interpreted as a position. Did I miss something?
Putting the PID loop on the controller, it would be interesting on STM32 to use RTOS and put the PID loop in a separate thread. I have used freeRTOS that comes with STM32 for a while and it is pretty good. I was actually thinking of developing my current version of motor on RTOS with separate threads for control and communication but that is another rabbit hole to run down. Thought I would keep it simple.