From 001071a55d9b090bb53fab910aabde2133dfadc1 Mon Sep 17 00:00:00 2001 From: juodumas Date: Sun, 3 May 2020 22:34:48 +0300 Subject: [PATCH] Update torque mode description in readme --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index 7dfe37a..fc80553 100644 --- a/README.md +++ b/README.md @@ -30,7 +30,7 @@ http://vocke.tv/lib/exe/fetch.php?media=20150722_hoverboard_sch.pdf This new firmware offers 3 control modes: - **VOLTAGE MODE**: in this mode the controller applies a constant Voltage to the motors - **SPEED MODE**: in this mode a closed-loop controller realizes the input target speed by rejecting any of the disturbance (resistive load) applied to the motor - - **TORQUE MODE**: in this mode the target torque set by the user is realized. This mode enables motor "freewheeling" when the torque target is "0". + - **TORQUE MODE**: in this mode the target torque set by the user is realized. This mode enables motor "freewheeling" when the torque target is "0". Recommended for most applications with a sitting human driver. If you want the motor to brake instead of "freewheel" when torque target is "0", modify code to set torque target below "0" when `speedAvgAbs > 0`. In all the modes, the controller features maximum motor speed and maximum motor current protection. This brings great advantages to fulfil the needs of many robotic applications while maintaining safe operation. - The C code for the controller was auto-code generated using [Matlab/Simulink](https://nl.mathworks.com/solutions/embedded-code-generation.html) from a model which I developed from scratch specifically for hoverboard control. For more details regarding the working principle of the controller please consult the [Matlab/Simulink model](/01_Matlab).