I am using simpeFOC with the STM32G431. My application requires very fast movements in position mode (going back and forth between 2 angles).
I wasn’t able to achieve that with the standard angle PID in simpleFOC.
Increasing the Kp of the angle PID gives me faster accelerations, but the axis rotates badly because of the high gain. there is no setting that can achieve my demands, and I tried everything.
That led me to believe that only a motion planner will be the correct route to achieve this. I am sure it can be done, because the speed loop works flawlessly - the speed is being maintained within a very small percentage.
I want to be able to enter the acceleration, deceleration, profile speed and the target position of course.
Some of my movements require triangular movement, not speed trapezoidal (where the setpoint speed is reached for a very short time and then decelerates)
Can anyone point me to a good motion planner code that I can incorporate into SimpleFOC?