Updated control loop and modules, so acknowledge initialisation & close-down, QEI server required _is_simulation() switch to remove 128mc delay required on H/W (to miss UV_FAULT toggle behaviour
Added PWM Server to 'close-down' list
This is a snap-shot of the new start-up mode where PWM is stepped through 6 different phase patterns
Updated QEI Server: Added new 'calib' parameters to indicate 'angle calibrated', parameter theta now in range [-180 .. 180], updated app_foc_demo to use new regime
Minor bug-fix in QEI Server, app_foc_demo, now working using new scheme to estimate Gamma based on speed, Gamma=32 at low speed, 96 at max-speed
Added spike (3 sample median) filter to ADC filter
Updated Park, Clarke, & pid_regulator code to use #defines for constants, and also improved accuracy, e.g. by using rounding instead of trucation. Got both Q & D PIDs working closed loop, with targ_Id=0
Updated targ_Id to switch to sign(Velocity) after 1 sec, in order for all motors to reach 4000 RPM, in under a 1 second
Closed velocity loop, and evaluated velocity PID parameters, some motors would NOT spin upto 4000 RPM, so added incrementally moved absolute targ_Id value towards measured Iq value. 4 Motors now spin upto 4000 RPM in both directions