My first post…
I’m working with the SimpleFOC closed loop angle example and it’s working fine.
However, I’m obviously not using the build flags correctly, as with or without them I still get the message: “TEENSY-DRV: Configuring 3PWM with fast pwm. Please consider using center aligned pwm for better performance!”
Could you please help me with enabling those flags in the Arduino IDE environment. - Thanks!!
- Arduino IDE v2.3.3
- SimpleFOC 2.3.5 installed
- Teensy 4.0
- SimpleFOC Mini v1
- AMT-103 Encoder
- iPower GM4108H Gimbal Motor
Start of program…
#define SIMPLEFOC_TEENSY4_FORCE_CENTER_ALIGNED_3PWM
#define SIMPLEFOC_TEENSY_DEBUG
#include <SimpleFOC.h>
// BLDC motor & driver instance
BLDCMotor motor = BLDCMotor(11);
BLDCDriver3PWM driver = BLDCDriver3PWM( 8, 36, 37, 4 );
// encoder instance
Encoder encoder = Encoder( 14, 15, 500 );
…
Serial output…
TEENSY-DRV: Configuring 3PWM with fast pwm. Please consider using center aligned pwm for better performance!
MOT: Monitor enabled!
MOT: Init
MOT: Enable driver.
MOT: Align sensor.
MOT: sensor_direction==CCW
MOT: PP check: OK!
MOT: Zero elec. angle: 4.49
MOT: No current sense.
MOT: Ready.
Motor ready.
Set the target angle using serial terminal: