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inital implementation of the velocity feed forward by askuric · Pull Request #267 · simplefoc/Arduino-FOC · GitHub

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inital implementation of the velocity feed forward - #267

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askuric merged 3 commits into
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FEAT_velocity_feadforward
Sep 27, 2023
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inital implementation of the velocity feed forward#267
askuric merged 3 commits into
devfrom
FEAT_velocity_feadforward

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askuric commented Mar 31, 2023

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  • An initial implementation of the velocity feed forward in order to allow for more advanced planning strategies

For example for trapezoidal velocity profile:
https://community.simplefoc.com/t/3d-printed-robot-arm-acceleration-deceleration-planner-algorithm/958/39

dekutree64 commented May 23, 2023

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I was just looking through all the pull requests, and I think I spotted a typo in this one. BLDCMotor.cpp line 422 and StepperMotor.cpp line 311 constrain shaft_angle_sp to the velocity limit. Shouldn't it be shaft_velocity_sp that is constrained?

askuric commented May 24, 2023

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Hey @dekutree64,
You're absolutely right!
I'm so glad that it stayed in this PR, thanks for taking the time to go in such detail. I'll update it right away!

askuric commented Sep 27, 2023

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I am not sure how, but this is already inside the dev branch. :D
I must have done some accidental pushes.
So, there is no point in leaving this one open any more, I'm merging it.

askuric merged commit 0b53813 into dev Sep 27, 2023
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