Update reade: add video
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@ -15,7 +15,7 @@ Here is the strategy I followed to find the pinout:
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2. Group remaining pins by motor with the multimeter find all the pins connected to the motor connector. (Reapeat 3 times for the other connectors)
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<img src="https://git.lurenaud.com/lurenaud/DJI-Gimbal-FOC/raw/branch/main/Kicad/Breakout_DJI_Gimbal.png" height=400> <img src="https://git.lurenaud.com/lurenaud/DJI-Gimbal-FOC/raw/branch/main/docs/setup.jpg" height=400>
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<img src="https://git.lurenaud.com/lurenaud/DJI-Gimbal-FOC/raw/branch/main/docs/setup.jpg" height=400>
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### Open-loop control
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@ -107,3 +107,7 @@ To achieve position control it is necessary to have first, a velocity controller
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However, the motors of the gimbal have hard stops and can only rotate around a half turn. It was so necessary to remove these mechanical stops. I drilled with a 1.6 mm drill the two little holes to remove it. Then the motor was able to rotate freely and PID can be tuned.
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<img src="https://git.lurenaud.com/lurenaud/DJI-Gimbal-FOC/raw/branch/main/docs/drilling.jpg" height=250> <img src="https://git.lurenaud.com/lurenaud/DJI-Gimbal-FOC/raw/branch/main/docs/freeturn.gif" height=250>
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# Final Result
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<video src="https://git.lurenaud.com/lurenaud/DJI-Gimbal-FOC/raw/branch/main/docs/final.mp4" height=250>
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