Simple FOC and STM32 F403RE

Hello

I’ve been tinkering a bit with:

  • the Libary
  • SimpleFOC Shield V2.0.3
  • Nucleo F403RE
  • 2804/100T Motor 7PP
  • AS5048a in SPI mode.

The motor finishes sensor and current sense align without problems.

Here are my issues:

  • Even though i set the driver.voltage_power_supply and the motor.phase_resistance to the set/measured
    values the motor.current_limit = .100; has no effect.

  • Whenever I use any closed loop the motor just starts spinning

  • Is this InlineCurrentSense current_sense = InlineCurrentSense(0.01, 50, A0, A2); and current_sense.gain_b *= -1; right for the shield ? I found it somewhere in the docs