correct sensor affirmation: not ratiometric
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@ -29,11 +29,11 @@ Connected directly to a MCU (here a STM32 Nucleo F401RE) and with the Simple FOC
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## Position estimation with the integrated linear hall sensors
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### 1. Setup
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Each motor is composed of two ratiometric linear hall sensors. (Texas Instrument DRV5053 Analog-Bipolar Hall Effect Sensor) They are placed at around 120º from each other (eyes measured) and measure the magnetic field of the rotor.
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Each motor is composed of two linear hall sensors. (Texas Instrument DRV5053 Analog-Bipolar Hall Effect Sensor) They are placed at around 120º from each other (eyes measured) and measure the magnetic field of the rotor.
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<img src="docs/Hallmotor.jpg" height=300>
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Ratiometric means that the output signal is proportional to the voltage supply to the sensor. In this setup, with 5V supply, the output measured is between 520mV and 1.5V, so a 1V amplitude signal.
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They are linear sensor, the output voltage correspond to a magnetic fields, regardless of the voltage supplied. In our case the output signal is between 1V and 1.65V.
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### 2. Measures
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