Duty Cycle Mode

[eufrizz]

Hi, I am interested in being able to switch the Tinymovr to a "duty cycle" control mode, effectively open-loop, sensorless speed control. I would be interested in your thoughts on how this could best be implemented and integrated into the Tinymovr firmware, and would love to contribute it to the project if you are interested!

[yconst]

Thanks for the contribution. This could be implemented as a new control mode that essentially keeps a position reference local to the control loop. Commutation then maintains current to the corresponding angle to provide the holding torque. The windings are energized all the time. There is no current control in this mode, but a velocity and position control could be implemented.

This still needs a bit of thought on how to combine with the various encoder types Tinymovr will soon support.