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I"m going to integrate it into the controller code (again grrrrr), so the PI test is just another one of the serial commands. It was done, but hadn't been tested yet when the laptop was stolen. So, it will sort of be something like this:
kp-id 2000 // set proportional gain for Id PI loop.
ki-id 10 // set integral gain for Id PI loop.
run-pi-test
run-pi-test will then run the motor for like 1/50 second, assuming a locked rotor. Then it will display the array of results showing
IdReference - IdFeedback
The goal is for that quantity to converge to 0. So, if it doesn't converge to zero with no oscillations, you enter a new value for kp-id and ki-id, and then run the test again.
This morning is looking little optimistic for getting it done. I hereby revise "this morning" to "this evening" (or sunday morning). small children are already impeding progress. haha. I guess 5am wasn't early enough to finish it!
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