Add Recirculation Current Decay Mode Setter/Getter #54
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Add recirculation current decay mode to throttle control; add decay mode setter/getter; default to fast decay (coasting mode) to preserve performance of legacy applications
tannewt
requested changes
Mar 15, 2021
tannewt
requested changes
Mar 16, 2021
Co-authored-by: Scott Shawcroft <scott@tannewt.org>
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Thanks for your help, @tannewt! |
adafruit-adabot
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Mar 20, 2021
Updating https://github.com/adafruit/Adafruit_CircuitPython_ESP32SPI to 3.5.7 from 3.5.6: > Merge pull request adafruit/Adafruit_CircuitPython_ESP32SPI#128 from adafruit/anecdata-patch-2 > Merge pull request adafruit/Adafruit_CircuitPython_ESP32SPI#126 from adafruit/anecdata-patch-1 Updating https://github.com/adafruit/Adafruit_CircuitPython_LTR390 to 1.1.0 from 1.0.3: > Merge pull request adafruit/Adafruit_CircuitPython_LTR390#3 from CedarGroveStudios/main Updating https://github.com/adafruit/Adafruit_CircuitPython_Bitmap_Font to 1.3.7 from 1.3.6: > Merge pull request adafruit/Adafruit_CircuitPython_Bitmap_Font#41 from jepler/use-bitmaptools-readinto Updating https://github.com/adafruit/Adafruit_CircuitPython_datetime to 1.1.2 from 1.1.1: > Merge pull request adafruit/Adafruit_CircuitPython_datetime#7 from brentru/fix-failing-tests > Merge pull request adafruit/Adafruit_CircuitPython_datetime#6 from cognitivegears/master Updating https://github.com/adafruit/Adafruit_CircuitPython_ImageLoad to 0.14.0 from 0.13.3: > Merge pull request adafruit/Adafruit_CircuitPython_ImageLoad#45 from kmatch98/master > "Increase duplicate code check threshold " > Merge pull request adafruit/Adafruit_CircuitPython_ImageLoad#46 from adafruit/tests-linting Updating https://github.com/adafruit/Adafruit_CircuitPython_Logging to 1.2.8 from 1.2.7: > Merge pull request adafruit/Adafruit_CircuitPython_Logging#18 from dastels/master Updating https://github.com/adafruit/Adafruit_CircuitPython_Motor to 3.3.0 from 3.2.8: > Merge pull request adafruit/Adafruit_CircuitPython_Motor#54 from CedarGroveStudios/master
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Added the ability to selectively change DCMotor's default FAST_DECAY recirculation current decay mode (coasting mode) to SLOW_DECAY mode (braking mode) to significantly improve motor performance and throttle/speed linearity. For integrated motor controllers such as the TB6612 and DRV8833, switching to SLOW decay mode also reduces sensitivity to higher (>500Hz) PWM frequency. When coupled with a lower PWM frequency such as 25Hz, SLOW_DECAY mode increases torque at low motor speeds and contributes to a very low spin threshold speed.
FAST_DECAY will remain as the default decay mode for compatibility.
Usage example:
The braking mode change was successfully tested with TB6612 and DRV8833-based motor controllers (Crickit, MotorWing, MotorSheld, and various breakouts) as well as discrete h-bridge circuitry (such as L9110) using CircuitPython 6.1.0.
After this PR is finalized, I will completely rewrite the Improve the Low Speed of Brushed DC Motors learning guide to elaborate on the new recirculation current decay mode improvements.
A big thank you goes to @ZodiusInfuser for the initial idea thread and subsequent discussions.
(reference: https://github.com/adafruit/Adafruit_CircuitPython_Motor/issues/53