I using the stock SMO from the DMC library as well as the low power motor kit. I'm having issues transitioning from current control to speed control on build level 6. I am use our board and motor with a load (20KHz control), but I've observed similar issues on the TI Motor kit (as posted by other users in the forum).
The Current waveforms look sinusoidal while in closed current mode (lsw1=1). The SMO theta vs Ramp theta are not in phase and have a phase shift. The SMO pdf indicates that a correction can be added, but I attempted this and it did not seem to correct the phase error.
Once in a great while I can force a transition to closed speed mode by set lsw1 to 2. When I do, the current wave forms are not ideal sinusoids, but have some ripple.
Second, the clarke transform seems to expect the ADC currents inverted, that is positive current is a lower voltage than vref, negative current is higher than vref. Our board is reversed. The only way I could correct was to flip the ADC signs. Is there another way to do this inversion?
