This is what Blueterm returns with parameters:
Code: Select all
ui16_setpoint, uint32_current_target, ui16_BatteryCurrent, ui16_sum_torque, ui16_adc_read_battery_voltage(), ui16_motor_speed_erps
Idle:
Code: Select all
0, 320, 322, 0, 402, 0
0, 320, 322, 0, 401, 0
0, 320, 322, 0, 402, 0
0, 320, 322, 0, 401, 0
0, 320, 322, 0, 401, 0
0, 320, 322, 0, 402, 0
0, 320, 322, 0, 401, 0
0, 320, 322, 0, 401, 0
0, 320, 322, 0, 402, 0
0, 320, 322, 0, 401, 0
0, 320, 322, 0, 401, 0
0, 320, 322, 0, 401, 0
PAS:
Code: Select all
0, 320, 321, 0, 402, 0
0, 320, 321, 0, 402, 5
0, 320, 321, 0, 402, 5
0, 320, 320, 0, 409, 6
0, 320, 320, 0, 440, 7
0, 320, 320, 0, 479, 7
0, 323, 320, 0, 511, 8
7, 336, 320, 0, 522, 8
6, 324, 321, 0, 519, 8
6, 323, 321, 0, 509, 8
8, 323, 320, 0, 499, 8
9, 324, 320, 0, 503, 8
10, 325, 321, 0, 513, 8
12, 326, 321, 0, 535, 9
12, 327, 324, 0, 563, 10
12, 327, 328, 0, 603, 11
12, 327, 326, 0, 638, 11
14, 327, 324, 0, 644, 11
12, 326, 328, 0, 643, 11
13, 327, 327, 0, 623, 11
13, 327, 327, 0, 593, 11
14, 327, 327, 0, 553, 10
13, 327, 328, 0, 511, 10
14, 327, 326, 0, 472, 10
14, 327, 327, 0, 434, 9
11, 326, 330, 0, 406, 8
12, 326, 327, 0, 402, 7
12, 326, 325, 0, 401, 7
11, 326, 327, 0, 402, 7
11, 326, 327, 0, 416, 8
12, 326, 325, 0, 434, 8
12, 326, 325, 0, 455, 8
11, 326, 327, 0, 458, 8
11, 326, 326, 0, 444, 8
12, 327, 326, 0, 422, 8
12, 326, 325, 0, 406, 8
12, 326, 327, 0, 402, 8
11, 326, 327, 0, 405, 7
12, 326, 326, 0, 436, 7
12, 326, 325, 0, 485, 8
12, 326, 325, 0, 528, 9
12, 326, 325, 0, 528, 10
12, 326, 325, 0, 501, 9
13, 327, 326, 0, 441, 8
13, 327, 325, 0, 402, 8
15, 327, 322, 0, 402, 7
18, 329, 321, 0, 402, 7
20, 330, 322, 0, 402, 5
23, 331, 322, 0, 402, 5
24, 325, 321, 0, 401, 4
23, 322, 322, 0, 401, 4
22, 320, 321, 0, 402, 0
22, 320, 321, 0, 402, 0
21, 320, 322, 0, 402, 2
20, 320, 322, 0, 402, 2
20, 320, 322, 0, 402, 0
19, 320, 322, 0, 402, 0
It takes a long time before things go back to the Idle state:
Code: Select all
19, 320, 322, 0, 402, 0
19, 320, 322, 0, 401, 0
18, 320, 322, 0, 401, 0
18, 320, 322, 0, 402, 0
17, 320, 322, 0, 401, 0
16, 320, 322, 0, 402, 0
16, 320, 322, 0, 402, 0
15, 320, 322, 0, 402, 0
15, 320, 322, 0, 402, 0
14, 320, 322, 0, 402, 0
13, 320, 322, 0, 402, 0
13, 320, 322, 0, 402, 0
12, 320, 322, 0, 402, 0
12, 320, 322, 0, 402, 0
11, 320, 322, 0, 402, 0
10, 320, 322, 0, 402, 0
10, 320, 322, 0, 401, 0
9, 320, 322, 0, 402, 0
9, 320, 322, 0, 402, 0
8, 320, 322, 0, 402, 0
7, 320, 322, 0, 402, 0
7, 320, 322, 0, 402, 0
6, 320, 322, 0, 402, 0
6, 320, 322, 0, 402, 0
5, 320, 322, 0, 402, 0
0, 320, 322, 0, 402, 0
0, 320, 322, 0, 401, 0
0, 320, 322, 0, 401, 0
0, 320, 322, 0, 401, 0
0, 320, 322, 0, 401, 0
0, 320, 322, 0, 402, 0
0, 321, 322, 0, 402, 0
0, 324, 322, 0, 401, 0
5, 328, 322, 0, 402, 0
7, 331, 322, 0, 402, 0
5, 322, 322, 0, 402, 0
5, 322, 322, 0, 401, 0
5, 322, 322, 0, 402, 0
5, 322, 322, 0, 401, 0
5, 322, 322, 0, 402, 0
5, 322, 322, 0, 401, 0
5, 322, 322, 0, 401, 0
5, 322, 322, 0, 402, 0
5, 322, 322, 0, 401, 0
5, 322, 322, 0, 402, 0
5, 322, 322, 0, 402, 0
5, 322, 322, 0, 402, 0
5, 322, 322, 0, 402, 0
5, 322, 322, 0, 402, 0
5, 322, 322, 0, 402, 0
5, 322, 322, 0, 401, 0
5, 322, 322, 0, 402, 0
5, 322, 322, 0, 402, 0
5, 322, 322, 0, 402, 0
5, 322, 322, 0, 401, 0
5, 322, 322, 0, 402, 0
5, 322, 322, 0, 401, 0
5, 322, 322, 0, 401, 0
5, 322, 322, 0, 402, 0
5, 322, 322, 0, 402, 0
5, 322, 322, 0, 402, 0
5, 322, 322, 0, 402, 0
5, 322, 322, 0, 402, 0
5, 322, 322, 0, 402, 0
5, 322, 322, 0, 402, 0
5, 322, 322, 0, 401, 0
5, 322, 322, 0, 402, 0
5, 322, 322, 0, 402, 0
5, 322, 322, 0, 402, 0
5, 322, 322, 0, 402, 0
5, 322, 322, 0, 401, 0
5, 322, 322, 0, 401, 0
5, 322, 322, 0, 402, 0
5, 322, 322, 0, 402, 0
5, 322, 322, 0, 401, 0
5, 322, 322, 0, 402, 0
5, 322, 322, 0, 402, 0
5, 322, 322, 0, 401, 0
5, 322, 322, 0, 402, 0
5, 322, 322, 0, 402, 0
5, 322, 322, 0, 402, 0
0, 321, 322, 0, 402, 0
0, 320, 322, 0, 402, 0
0, 320, 322, 0, 402, 0
0, 320, 322, 0, 402, 0
0, 320, 322, 0, 401, 0
0, 320, 322, 0, 402, 0
0, 320, 322, 0, 401, 0
0, 320, 322, 0, 401, 0
0, 320, 322, 0, 402, 0
0, 320, 322, 0, 401, 0
0, 320, 322, 0, 401, 0
And when I use throttle after that, this happens before the controller boots itself, and supposedly this is also what happens when the mosfet burns at least according to the symptoms.
Code: Select all
0, 320, 322, 0, 401, 0
0, 320, 322, 0, 401, 0
0, 320, 322, 0, 402, 0
0, 320, 322, 0, 401, 0
0, 320, 322, 0, 402, 0
0, 320, 322, 0, 401, 0
0, 320, 322, 0, 402, 0
0, 320, 322, 0, 402, 0
0, 320, 322, 0, 401, 0
0, 320, 322, 0, 401, 0
0, 320, 322, 0, 402, 0
0, 320, 322, 0, 402, 0
0, 320, 322, 0, 402, 0
0, 320, 322, 0, 402, 0
0, 320, 322, 0, 401, 0
0, 320, 322, 0, 401, 0
0, 320, 322, 0, 402, 0
0, 324, 322, 0, 402, 0
0, 330, 322, 0, 402, 0
7, 335, 322, 0, 402, 0
6, 324, 322, 0, 402, 0
6, 323, 322, 0, 402, 0
6, 323, 322, 0, 402, 0
6, 323, 322, 0, 402, 0
7, 323, 322, 0, 402, 0
7, 323, 322, 0, 401, 0
7, 323, 322, 0, 402, 0
8, 324, 322, 0, 401, 0
9, 324, 322, 0, 402, 0
9, 324, 322, 0, 402, 0
10, 325, 322, 0, 402, 0
11, 326, 322, 0, 402, 0
13, 326, 322, 0, 402, 0
14, 327, 322, 0, 402, 0
17, 328, 322, 0, 402, 0
19, 330, 322, 0, 401, 0
22, 332, 322, 0, 402, 0
26, 333, 322, 0, 402, 0
30, 336, 323, 0, 401, 0
35, 338, 323, 0, 401, 0
41, 341, 323, 0, 401, 0
48, 345, 324, 0, 401, 0
56, 349, 326, 0, 401, 0
63, 354, 329, 0, 400, 0
68, 356, 339, 0, 400, 0
69, 357, 347, 0, 400, 0
75, 360, 343, 0, 400, 0
83, 365, 341, 0, 399, 0
91, 368, 344, 0, 399, 0
99, 373, 347, 0, 230, 0
83, 320, 342, 0, 235, 0
Throttle didn't spin the wheel at all before booting.
This test was made 24V and Battery current 7A, Phase current 14A so that I don't burn more mosfets or fuses from the battery.
I'm not sure should I be still looking for the different motor specific angle or something else, because I think that this angle I have found works. At least there's no bad start and also I have made a test run with this angle.
Here's also the parameter screenshot of the testing situation:

- testing24V_7A.jpg (499.62 KiB) Viewed 287 times
What's happening here?