From dee14242cd62bd8d29af5ceafd867b7a1bf04560 Mon Sep 17 00:00:00 2001
From: Nils Schulte <git@nilsschulte.de>
Date: Thu, 14 Aug 2025 13:08:14 +0200
Subject: [PATCH] lars bldc parameter

---
 fw/src/main.cpp | 21 +++++++++++++--------
 1 file changed, 13 insertions(+), 8 deletions(-)

diff --git a/fw/src/main.cpp b/fw/src/main.cpp
index fb30b1e..4d82d21 100644
--- a/fw/src/main.cpp
+++ b/fw/src/main.cpp
@@ -68,7 +68,7 @@ USBCDC usbserial;
 #endif
 
 const int voltage_lpf = 50;
-const float max_voltage_limit = 6;
+const float max_voltage_limit = 2.3;
 
 
 #ifdef ESPHWENC
@@ -90,9 +90,13 @@ CalibratedSensor encoder_calibrated(abs_inc_sensor, sizeof(encoder_calibration_l
 #ifdef MOTOR
 struct drv8323s_foc_driver drv8323s;
 // BLDCMotor motor = BLDCMotor(100); // 24N22P
-HybridStepperMotor motor = HybridStepperMotor(50);  //, 3.7, 10, 4.5 / 1000);
-#endif
+//HybridStepperMotor motor = HybridStepperMotor(50);  //, 3.7, 10, 4.5 / 1000);
 
+
+BLDCMotor motor = BLDCMotor(7, 0.7, 360, 0.15);
+// BLDCMotor motor = BLDCMotor(7);
+//BLDCDriver3PWM driver = BLDCDriver3PWM(16, 5, 17, 4);
+#endif
 void read_i2c(uint8_t addr, uint8_t reg, uint8_t *buf, uint8_t len) {
   Wire.beginTransmission(addr);
   Wire.write(reg);  // MAN:0x2E
@@ -225,12 +229,13 @@ void setup() {
   digitalWrite(INLABC, 1);  // enable
   // driver.init(&SPI);
   // status();
-  motor.linkSensor(&encoder_calibrated);
+  motor.linkSensor(&encoder_absolute);
+  //motor.linkSensor(&encoder_calibrated);
   motor.linkDriver(drv8323s.focdriver);
   // motor.foc_modulation = FOCModulationType::SinePWM;
   motor.foc_modulation = FOCModulationType::SpaceVectorPWM;
 
-  motor.voltage_sensor_align = 4;
+  motor.voltage_sensor_align = 1.5;
   motor.voltage_limit = max_voltage_limit;
   // motor.controller = MotionControlType::velocity_openloop;
   // motor.controller = MotionControlType::velocity;
@@ -252,7 +257,7 @@ void setup() {
   const char *zero_electric_angle_str = "zero_el_angle";
   const char *sensor_direction_str = "enc_dir_str";
   const int settle_time_ms = 150;
-  if (!pref.isKey(encoder_calibration_lut_str) || pref.getBytesLength(encoder_calibration_lut_str) != sizeof(encoder_calibration_lut)) {
+  if (motor.sensor == &encoder_calibrated && (!pref.isKey(encoder_calibration_lut_str) || pref.getBytesLength(encoder_calibration_lut_str) != sizeof(encoder_calibration_lut))) {
     encoder_calibrated.calibrate(motor, settle_time_ms);
     pref.putBytes(encoder_calibration_lut_str, &encoder_calibration_lut[0], sizeof(encoder_calibration_lut));
     pref.putFloat(zero_electric_angle_str, motor.zero_electric_angle);
@@ -263,7 +268,7 @@ void setup() {
     Serial.println("Skipping calibration");
   }
 
-  if (!pref.isKey(zero_electric_angle_str)) {
+  if (!pref.isKey(zero_electric_angle_str) || motor.sensor != &encoder_calibrated) {
     motor.initFOC();
     pref.putFloat(zero_electric_angle_str, motor.zero_electric_angle);
     pref.putInt(sensor_direction_str, (int)motor.sensor_direction);
@@ -354,7 +359,7 @@ void foc_task_loop() {
   servo_state.controller_temperature = curr_pcb_temp_kelvin;
   servo_state.motor_temperature = NAN;
 
-  float curr_angle = encoder_calibrated.getAngle();
+  float curr_angle = motor.sensor->getAngle();
   servo_state.curr_position = curr_angle;
   servo_state.curr_force = motor.voltage.d;