Question about phisical limitations

[Ami603]

Hello, since the mechanical step is 4 degree, can i downscale the range in input to a lower size?
That would mean i could make one full rotation with all the possible steps inside a int8 variable.
What does your code do with all the excess within 0-4095 values?

[Istria1704]

I believe the 4 degree limit is hardware limited by the 3 hall sensors.

I am also interested in this. I saw some videos in the EFeru "issues" thread which looked very cool. I can already see myself building my own (massively overpowered) Dexter high five robot with a couple of these.xD
I also read there that you have it working with an external absolute encoder and an esp32 to have more accuracy. However, I could not find any links to that projects. How has that been working out for you?
Props for the nice firmware. Exactly what I'm looking for.

[vamfun]

Hi, I chose my resolution to be 0.18 degrees or 2000 counts per revolution. I designed this to work with an external encoder with higher resolution. If you use the 4 deg hall sensors as feedback you can certainly use an 8 bit word to command and simply left shift it 8 bits you can use my software as is. I have a working esp32 reading an external encoder and commanding hoverboard through uart . I could not use the hoverboard to read the encoder nap because of input limitations. To get proper accuracy and low noise level I had to read the encoder with uart, I had extra uart ports on esp32 to read sensor… it adds extra lags but was able to use some added rate (non zero kd of PID) to added some compensating phase lead which allowed me to use higher KP and still remain stable. I am using Lamprey absolute encoder.. https://www.andymark.com/products/lamprey-absolute-encoder. . http://vamfun.wordpress.com Robot musing blog iPhone

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On Jun 18, 2022, at 11:47 AM, Ami603 ***@***.***> wrote:  Hello, since the mechanical step is 4 degree, can i downscale the range in input to a lower size? That would mean i could make one full rotation with all the possible steps inside a int8 variable. What does your code do with all the excess within 0-4095 values? — Reply to this email directly, view it on GitHub, or unsubscribe. You are receiving this because you are subscribed to this thread.

[Istria1704]

Very nice. So the uart (@115200baud?) is fast enough to get a decent update frequency of the throttle command? Or did you have to use a faster baud rate?