Update isp_bldc_motor.spin2

- adjust offset constant from 20 to 43 (43 is measured outcome)
ironsheep · Aug 15, 2023 · 97e3bc4 · 97e3bc4
1 parent 27053b4
commit 97e3bc4
Showing 1 changed file with 23 additions and 0 deletions.
diff --git a/src/isp_bldc_motor.spin2 b/src/isp_bldc_motor.spin2
@@ -896,9 +896,32 @@ PRI offsetsForMotor(eMotorType) : fwdDegrees, revDegrees | ofsDegr
       other:
         ' 4 degrees per tic, offset was actually 5 tics!
         '  or 20 degrees (0.0556 of rotation)
+        { Doug's motor
         ofsDegr := 20
         fwdDegrees := ofsDegr
         revDegrees := 360 - fwdDegrees
+        }
+
+        ' Chips values (orig driver)
+        ' CHIP ORIG: offset_fwd	long	280 frac 360			'280 frac 360 (Doug's motor) 20
+        ' CHIP ORIG: offset_rev	long	230 frac 360			'230 frac 360 (Doug's motor) 340
+
+        ' my values from characterization at 18v5:
+        ofsDegr := 43
+        fwdDegrees := ofsDegr                 ' chip #1 fwd 280 / rev 80
+        revDegrees := 360 - fwdDegrees
+        {
+        ' In the following smaller value is FWD, 360 - smaller is REV
+        ofsDegr := 80
+        fwdDegrees := ofsDegr                 ' chip #1 fwd 280 / rev 80
+        revDegrees := 360 - fwdDegrees
+        '}
+        {
+        ' In the following smaller value is FWD, 360 - smaller is REV
+        ofsDegr := 130
+        fwdDegrees := ofsDegr                 ' chip #2 fwd 230 / rev 130
+        revDegrees := 360 - fwdDegrees
+        '}
 
 PRI getInternalDetectMode(eDetectMode) : eValidMode, bUserOverride | legalMode
 ' ensure suer specifies a good value