Comments (1)
vedderb
commented on July 21, 2024
Well spotted. I checked it a few times since I wrote this a while ago, but it is actually correct. Positive motor currents in this context correspond to acceleration currents in any direction and negative currents correspond to braking currents. Therefore the RPM limits are only applied to the maximum current while the temperature limits are applied to both currents as braking also heats up the motor. Depending on the direction the motor spins either one or the other RPM limit will end up being used. Also note that utils_min_abs will chose the value with the smallest magnitude, regardless of sign.
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Related Issues (20)
- Flipsky hardware firmware naming inconsistency HOT 2
- Feature request: Lisp ADC detach more modes/ improvement HOT 2
- can-cmd: not limiting motor speed HOT 7
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- Feature Discussion: Strong-Typed Packet ID HOT 2
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- Error updating firmware from Unity 23.46 to VESC 6.02 HOT 1
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- New proposed feature: write-locking via 4-digit PIN HOT 2
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- No way to use the serial port when the motor is running HOT 3
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