diff --git a/README.md b/README.md index b17804d..3bafe0f 100644 --- a/README.md +++ b/README.md @@ -29,11 +29,11 @@ Connected directly to a MCU (here a STM32 Nucleo F401RE) and with the Simple FOC ## Position estimation with the integrated linear hall sensors ### 1. Setup -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. +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. -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. +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. ### 2. Measures