I kind of noticed that BLDC init sequence has no good repeatability.
Maybe this is the reason:
else if (in_type == 0x0D) { // homing to encoder index
if (!index_enable){ // index has reset
offset_measured = long_rawcounts;
in_type = 0x02;
}
}
Shouldn't it take some of offset, as a result of hardware encoder reset?
What if servo-period is higher than encoder pulse period at init
procedure? This is especially possible on vibrations, when init starts
near index, starting oscillations on the motor.
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