Run

make clean
make -j

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IMPORTANT

• to debug with ozone first set g_dbg_override to 1
• always make sure robot ID in config.h matches the dribbler ID when flashing firmware
• if dribbler mounting changed, re-calibrate g_mag_encoder_offset_dbg

CONTROL MODES

mode = 0: Open Control Mode mode = 1: Velocity Control Mode mode = 2: Torque Control Mode mode = 3: Current Control Mode

STARTUP ENCODRER CHECK SEQUENCE

1. set g_dbg_daxis_lock to 1
2. set g_openloop_vf_offset_dbg to 0.6, g_openloop_vq_limit_dbq limits this offset value
3. set g_dbg_motor_start to 1, check that motor is locked into some angle
4. set g_openloop_omega_e_dbg to 10 -> 20 -> 50, obverse the encoder changes continuously from ozone Timeline, if drop occasioanlly to zero this is a error frame thingy, check for alignment in AS5048A and diametric magnetc, occasional error frames will be ignored and is ok

RUN CURRENT LOOP IN OZONE DEBUG MODE

1. always set g_dbg_motor_start to 0 before starting anything
2. all openloop dbg variables doesn't matter for this
3. set mode to 3
4. make sure g_dbq_id_target and g_dbq_iq_target are set to safe values below 0.7 (?) current commands
5. start motor

MAGNETIC ENCODER CALIBRATION

NOTEs

• for torque generating you only need iq, set id to zero
• for current mode control at a iq command of 1.0 the current should not exceed ~500mA

Structure

Supporting MCU