Hi I am a complete beginner to Simple FOC. I’ve searched through the entire source code folder but I just can’t seem to find a ramping section for FOC control of stepper motors. I mean in position PID control with inner torque and velocity PID loops running, you need to start the stepper motor up from a speed of 0 to the desired speed as commanded by the position PID loop. How does this work out, I mean wouldn’t the velocity loop block the position loop until it reaches target velocity.
There is some trapezoid code here
But if you’re building a CNC or something with synchronized motion between multiple motors, then it may be better to leave that to the centralized planner and just stream position commands to your SimpleFOC drivers via step/dir signals or some other protocol.