lurenaud/DJI-Gimbal-FOC
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Lucien Renaud 2022-05-24 14:23:53 +02:00
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README.md
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@ -101,4 +101,6 @@ To achive position control it is necessary to have first, a velocity controller
![Closed loop position diagram from SimpleFOC](docs/angle_loop_v.png) ![Closed loop position diagram from SimpleFOC](docs/angle_loop_v.png)
However, the motors of the gimbal have hard stop and can only rotate of around a half turn. It was so necessary to remove these mecanical stops. I drilled with a 1.6mm drill the two little holes to remove it. Then the motor was able to rotate freely. However, the motors of the gimbal have hard stop and can only rotate of around a half turn. It was so necessary to remove these mecanical stops. I drilled with a 1.6mm drill the two little holes to remove it. Then the motor was able to rotate freely.
![Drilling](docs/drilling.jpg) ![Drilling](docs/drilling.jpg)
![Tunrning](docs/freeturn.gif)
![Working](docs/working.gif)

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