Finalizing MSP430 motor controller #52
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…nected it to i2c interface; can be toggled with first bit in controlRegister
…p how controlRegister works a bit
… for several time steps then a flag is added to status_register and controller stops trying to drive motor (until it is given a new setpoint)
…nging or driving in the wrong direction)
…s are added to position instead of resetting it
…t :S ... controller is a bit wacky now, probably due to timing being different now that it isn't in interrupt. Will investigate
…eems to have resolved last remaining funkiness
…E_COMMAND bit of control register, added ability to override default open loop PWM and control it using the desired speed given from Hercules
added 2 commits
May 1, 2021 15:08
… counter to actually work
…reset (caused stop-start behavior when given large position setpoints
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Motor Controller changes for #51