Motor Detents using foc_current without PID controller

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@Lanese22

The goal of my project is to create a code that can apply a torque to a motor at any given angle. I work on switch feel projects so in order develop different “feels” when rotating knobs you need to be able to control the torque. Typically you should have no torque (or current) at the detent. As you rotate the knob away from the detent it should have a fighting torque (opposing current) and when you are just over halfway to the next detent, the motor torque should pull you into that detent by applying a torque in the same direction as the motion.

The way I (and many others) implemented haptics does exactly what you say- it’s using a PID in torque mode, where the P term is scaled with angle error from the knob, so increased turning results in increased force until it passes a threshold. In my case I just snap to the next detent, but the code I shared above you can put whatever you like at the snap moment or change parameters so that each detent is feeling different. You really should try to read this thread: Haptic textures - #4 by Antun_Skuric