duty_cycle control vs current_control

[fessyfoo]

@wirebrush

and “P” gain in the current control modes should all affect

PID tuning is where i think reducing the response lag could come form.

in this other thread about BLDC vs FOC @Tony_Stark got into tuning PID on FOC to see if it resolved some of the apparent punch difference.

messing with PID is where my experiments stalled out.

@Tony_Stark

At first I was not having a good time with FOC, feeling very disconnected from the board. So I switched to BLDC mode and immediately felt way more confident with the more responsive throttle and set a great lap time. But then I switched back to FOC and started playing with these two PID settings.

I ended up with 0.006 for both Ki and Kp before the bluetooth module died but would have kept going. The board was feeling awesome and I smashed the track record by 0.6s. FOC is definitely more predictable feeling than BLDC now (however the PID controls effect BLDC as well and I’ve never tried to tune BLDC).

It definitely feels like more tuning could be done but definitely have a go playing with those two. From my reading about PID loops, probably don’t touch the Kd setting…