inital implementation of the velocity feed forward #267
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I was just looking through all the pull requests, and I think I spotted a typo in this one. BLDCMotor.cpp line 422 and StepperMotor.cpp line 311 constrain shaft_angle_sp to the velocity limit. Shouldn't it be shaft_velocity_sp that is constrained? |
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Hey @dekutree64, |
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I am not sure how, but this is already inside the dev branch. :D |
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For example for trapezoidal velocity profile:
https://community.simplefoc.com/t/3d-printed-robot-arm-acceleration-deceleration-planner-algorithm/958/39