Extension of the CalibratedSensor #54
Merged
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
|
Can we merge it? |
|
Yep, this one can be merged directly. |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
This is an extension of the existing CalibratedSensor code that makes it much more flexible.
I had a lot of trouble with magnetic sensors and stepper motors. Even with 3d printed parts I was never able to completely remove the missalignment, there was always some variation in the motor's torque.
With this code, it is very well eliminated. And even if the sensor is not perfectly positioned, the torque output is very nice and smooth. I've tested both voltage and current control and they both work well, at least in my case.
LIMITATION
The limitation though is that the misalignement error should be within the electrical revolution range (for example if using NEMA 17 it should not exceed 360/50 = 7.2 degrees). So this still means that the sensor should be reasonable well positioned.