Add MotionControlType::angle_nocascade support to DCMotor::move()#16
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ator1811 wants to merge 1 commit into
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Add MotionControlType::angle_nocascade support to DCMotor::move()#16ator1811 wants to merge 1 commit into
ator1811 wants to merge 1 commit into
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Direct-voltage angle control: P_angle output goes straight to voltage.q without an inner velocity loop, mirroring the FOCMotor base class implementation. LPF_angle is applied to shaft_angle before the error calculation (configurable via commander AAF; passthrough when Tf=0). Output is clamped to voltage_limit via _constrain. Previously this mode hit the default branch, which called disable() and set motor_status = motor_error, silently stopping the motor. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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Direct-voltage angle control: P_angle output goes straight to voltage.q without an inner velocity loop, mirroring the FOCMotor base class implementation. LPF_angle is applied to shaft_angle before the error calculation (configurable via commander AAF; passthrough when Tf=0). Output is clamped to voltage_limit via _constrain.
Previously this mode hit the default branch, which called disable() and set motor_status = motor_error, silently stopping the motor.