My motor works fine with my SimpleFOCShield, both in “DC Current” and “FOC Current” modes. Additionally, I successfully tuned the Current PIDs in order to improve the angle control. All this seem to indicate that my current sensing works as expected.
However, when I try to read actual current values, I get puzzling results:
In my application (which looks a lot like
motor.monitor_variables = _MON_CURR_Q|_MON_CURR_D gets me only zeros in SimpleFOCStudio:
Same thing if I use
current_sense.getDCCurrent(): they return only zeros.
However, if I run the
inline_current_sense_test example (which calls
current_sense.getDCCurrent()), I seem to get noise:
Does it make sense?