Hallo
Ich bin Französisch und ich spreche nicht gut Deutsch
Ich werde in Englisch weiter
Vielen Dank für Ihr Verständnis
My name is Jean-Pierre, and I enjoy electronics stuff, aircrafts and microcontrolers (but Microchip's instead of Atmega
I am in the Open source spirit and share everything I do :
http://freedom2000.free.fr
I have already fully designed a quadricopter board with full 10 Dof sensors.
I have seen your wonderfull brushless gimbal project and looked at the code which is "rather simple" to understand when you are familiar with copters and electric stuff. Thanks a lot for sharing it.
So I decided to adapt this code to my Microchip board as I had most of the software avaliable and I knew rather well the H Bridge L6432
The result till now is an almost working platform (proto one)
The code is basically the same has yours but with a few differences
- 3 axis IMU
- 3 motors capable (9 PWMs @ 32kHz)
- my own attitude control software
- 512 steps for the sinus table (instead of 255 on yours)
- different interrupt routine for motor stepping
But the idea is more or less the same
And ... I need motor expert help !
My proto is running see video here :
WmYY4WvNfCs
but (not visible on the video) the motor is not fully smooth. From time to time during rotation I can hardly feel "shakes"
Here is another video at a very low speed.
You can see :
- on the left the three PWM commands sent to the motor and plotted in real time
- on the right side, 2 of the motors windings on a scope
- on the botton the motor runnin (very slow motion)
[video=youtube;xXBrZqN0L94]https://www.youtube.com/watch?v=xXBrZqN0L94[/video]
The video is in french but you can hear when I say "top" that a glich is occuring on the motor
My question is : Are these glitches "normal" or are they due to the motor or a bug in my program... but franckly speaking I can't see where !
Vielen Danke
JP
