SimpleFOClibrary support for stepper motors

[Antun_Skuric]

Hey @Owen_Williams,

@Owen_Williams

I have replaced my i2c with spi (AS4047u). I’ve managed to get a closed loop above 50 rad/s (~500 rpm) but had to do some surgery on the code! I’m basically running loopFOC() as fast as possible but only calling sensor.getVelocity() at about 200Hz (loopFOC is just given the last shaft_velocity for when sensor.getVelocity() is skipped. This approach has the effect of smoothing velocity. I tried playing with Tf but couldn’t get it tuned.

This definitely makes sense!
Did you try to separate the motor.loopFOC() and motor.move(). Run loopFOC() in each loop() and move() with much lower frequency. This should do more or less the same thing.

I have done the same thing for my inverted pendulum project. You can see the code in:

Reaction Wheel Pendulum

[David_Gonzalez]

I had much better results with my robots slowing down motor.move(), but I was doing position control.
Do you think there might be a way to calculate the optimal frequency for motor.move()?