lurenaud/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) 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 ### 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. 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> <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>