I was just thinking it would I think likely be quite useful to make some standard recommended proceedures for getting a motor driver up and running. I have previously commented on the value of flagship hardware combos of course, which I think also applies but is slightly different.
I mean like:
a) determine pinouts and connect the different stages
b) get the microcontroller executing a test program, ideally blink, then serial
c)get open loop working at low speed, so you got the right pole pairs, wiring, and so on.
d)get the angle sensor readings printed out, make sure they wrap around and increase and decrease, don’t suddenly change direction
d)maybe calibrate the sensor, including the zero offset.
e)make sure the difference in the angle between the electrical angle and the sensor are as expected in a range of operating conditions. This includes higher speeds. I have a trick I invented to check this, you run the motor at open loop and adjust the knob on the power supply to change the voltage slowly until current is optimized. Then the angle difference should be very close to 1.5 rads, of course.
f)get it all working at low speed, both directions.
g)increase the speed if needed
For angle regulation there would need to be a different proceedure, I don’t know what that would look like but I do know if I was facing the challenge of doing that I would quite value a standard procedure… The thing is there are a lot of uncertainties, just look at the issues with the PID controller section for instance. Things get exponentially complicated at some point it gets ungainly and impractical and progress really slows. I think this sort of thing is doable and could tip the scales.