as5600磁编码器

注意dir引脚只需要焊接一个电阻 +/-

顺便分享一下已经调好的pid参数：

// velocity loop PID
  motor1.PID_velocity.P = 0.1;
  motor1.PID_velocity.I = 10.0;
  motor1.PID_velocity.D = 0.001;
  motor1.PID_velocity.output_ramp = 1000.0;
  motor1.PID_velocity.limit = 0.4;
  // Low pass filtering time constant 
  motor1.LPF_velocity.Tf = 0.01;
  // angle loop PID
  motor1.P_angle.P = 20.0;
  motor1.P_angle.I = 0.0;
  motor1.P_angle.D = 0.05;
  motor1.P_angle.output_ramp = 0.0;
  motor1.P_angle.limit = 20.0;
  // Low pass filtering time constant 
  motor1.LPF_angle.Tf = 0.001;
  // current q loop PID 
  motor1.PID_current_q.P = 0.8;
  motor1.PID_current_q.I = 200.0;
  motor1.PID_current_q.D = 0.0;
  motor1.PID_current_q.output_ramp = 0.0;
  motor1.PID_current_q.limit = 3.0;
  // Low pass filtering time constant 
  motor1.LPF_current_q.Tf = 0.001;
  // current d loop PID
  motor1.PID_current_d.P = 3.0;
  motor1.PID_current_d.I = 300.0;
  motor1.PID_current_d.D = 0.0;
  motor1.PID_current_d.output_ramp = 0.0;
  motor1.PID_current_d.limit = 3.0;
  // Low pass filtering time constant 
  motor1.LPF_current_d.Tf = 0.005;
  // Limits 
  motor1.velocity_limit = 20.0;
  motor1.voltage_limit = 3.0;
  motor1.current_limit = 0.4;

顺滑程度在中高速还不错，当速度低至1r/s时会有轻微的段落感。

————————————————2022.2.17更新————————————————

修正了定位孔间距，扩大了0.6mm。

增加了磁铁固定件的stl文件，可在附件下载。