I’m using it under position control to control a robotic-arm and it’s working great. Until I run into issues with egregious amount of torque requirement. For example if the motor went into a mechanical bind and is very stiff to move. During which I notice a race condition where the motor just starts spinning fast and blows out all my fuses.
I was trying to find a way for the firmware to detect this race condition and then hopefully nuetralize it by disabling the motors. But I’m running into issues with both the tasks. Firstly, I haven’t been able to find a way to detect this race-condition within simpleFOC’s docs. My work around was to see if the target position and current position is way far out, which can help trigger the race condition. Secondly, disabling the motor. When I disable the motors, it looses position (as setPwm(0,0,0) and drops my arm. Instead, I was hoping to short the three phases, so that they can go under a brake condition. Where the motors are turned off, but they can at least stay in a particular position.
Anyone has any thoughts on these two issues? Thanks.