Hi,
I am trying to control a motor using my custom hardware based on F28069M. We would like to operate the motor in the following states:
START -> Velocity control between 1000 and 2000 RPM based on velocity command -> Transition to position control and move to position A -> Move to position B -> Move to position A -> Transition to Velocity control and run between 1000 and 2000 RPM based on velocity command -> STOP
I have been doing velocity control and position control satisfactorily with separate projects, and now would like to combine them to obtain the above state transitions. My velocity control project is based on proj_lab 12. For position control, I tried InstaSPIN's position control, but we liked to have more aggressive gains than what InstaSPIN would give us. So, I have a custom PID module that directly sets the Iq_ref value of the CTRL object.
I was wondering if it will be possible to use SpinTAC Position Move or any other module to accomplish my goal. If so, I would really appreciate any pointers for using it in this particular application.
Thanks,
Tamil