This project forked from yuziqiang/apexservo
Servo motor built with step motor
2018/7/16： 修复了上一版本固件配置不完善导致的电机电流控制异常(表像：电机振动)。 增加了UI界面，显示实时数据和编码器校准界面。 调整了控制算法流程
2018/7/17： 增加IS指令表
开发环境为Keil_MDK V5.25.2.0
PCB预留SWD接口可用于程序的下载与调试
以下情况需要进行一次编码器校准，否则将造成电机震荡或无法工作(校准指令请参照下方指令说明)
1.初次使用时
2.重新安装PCB与电机
3.出现电机工作异常可先进行一次编码器校准以检查是否为编码器故障
指令通过串口发送与接收，波特率为115200。每条指令后必须加上\r或\n或\r\n,即Enter。
可通过串口指令配置以下参数(pgv_pid,p_pid,v_pid,模式目标,控制参数,控制,读取,帮助)。
完整指令请查看IS.cpp
如果您想参与该版本的维护或者有疑问请联系 [email protected]
同时您可以加入qq群进行讨论 20853369
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