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Update README.md

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Added short section about Gimbal mode selection.
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Brandon Kinman
2018-01-22 21:41:42 -08:00
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Firmware/README.md
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@@ -70,6 +70,15 @@ You must set:
* `ENCODER_CPR`: Encoder Count Per Revolution (CPR). This is 4x the Pulse Per Revolution (PPR) value.
* `POLE_PAIRS`: This is the number of magnet poles in the rotor, divided by two. You can simply count the number of magnets in the rotor, if you can see them.
* `brake_resistance`: This is the resistance of the brake resistor. If you are not using it, you may set it to 0.0f.
* `motor_type`: This is the type of motor being used. Currently two types of motors are supported -- High-current motors (` MOTOR_TYPE_HIGH_CURRENT`) and Gimbal motors (MOTOR_TYPE_GIMBAL).
### Motor Mode
The firwmare currently supports two different types of motors, high-current motors, and Gimbal motors.
If 100's of mA of current noise is "small" for you, you can choose `MOTOR_TYPE_HIGH_CURRENT`.
If 100's of mA of current noise is "large" for you, and you do not intend to spin the motor very fast (omega * L << R), and the motor is fairly large resistance (1 ohm or larger), you can chose `MOTOR_TYPE_GIMBAL`.
If 100's of mA current noise is "large" for you, and you intend to spin the motor fast, then you need to replace the shunt resistors on the ODrive.
### Tuning parameters
The most important parameters are the limits: