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DJI-Gimbal-FOC
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Update reade: add video

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Lucien Renaud 2024-01-02 19:31:52 +01:00
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@ -15,7 +15,7 @@ Here is the strategy I followed to find the pinout:
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)
<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>
<img src="https://git.lurenaud.com/lurenaud/DJI-Gimbal-FOC/raw/branch/main/docs/setup.jpg" height=400>
### Open-loop control
@ -107,3 +107,7 @@ To achieve position control it is necessary to have first, a velocity controller
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.
<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>
# Final Result
<video src="https://git.lurenaud.com/lurenaud/DJI-Gimbal-FOC/raw/branch/main/docs/final.mp4" height=250>