Wondering if anyone has any thoughts on how to approach coasting within a speed controller, and then smoothly re-engage. I dont want to completely disable the controller, since I assume that would mean it would stop sending PWM and so stop tracking the motor angle.
My method till now has been that if speedRef is zero or less than actual speed, I set CTRL_setSpd_max_pu a to a low value like _IQ(0.1), and otherwise keep it at _IQ(1.0)
This has worked fairly well. The controller keeps track of the motor angle and the resistance isnt too bad. Certainly could be better but acceptable. The problem is that when SpeedRef is raised above actual speed, the skateboard shortly but dramatically decelerates, which is unpleasant to ride, before accelerating up as it should.
Thanks