Quote:
Originally Posted by MPaulHolmes
I might know what the problem is. Remember how i had to change the PI code so that it ALWAYS did the PI, even at zero throttle in the case of the permanent magnet motor? Some weird behavior happened with your motor when it went to zero from nonzero. The slip speed and electrical speed went way negative, and then WAY WAY positive for an instant. I'm thinking that's because your code still has the old way of dealing with transition from nonzero throttle to zero. I need to get you an updated .hex file.
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I think you still need to run the PI at zero speed so that if you let off the brake on a hill .. there is regen braking if you have the throttle set that way.
It surprised me that the shaft spun slightly backward .. I just thought it was very aggressive.