more current control with rtdx

I have slowed the sampling rate for current control down to 0.01 and the motor still freezes.

Try sample_time_rtdx = 1

no better - try getting rid of the rtdx block - maybe the data tpe or the rate transition that is the problem

moves a bit but still pretty much frozen - try to remove the data type conversion

running fine now - data type conversion seems to be the problem

I would try without a conversion but I am not sure if i can safely make the HE int16. I will try to do that without any rate transition or rtdx block

That works - now I can try a rate transition and a rtdx block back in

matlab compiles

ccs links and loads

motor runs really jerky

in desparation, I have slowed SAMPLE_TIME down to 0.0001. I cannot remember what that did to the controller.

Does not work - try also reducing the ts_current_sense to 0.0001

that sort of works (jerky and draws 10A instead of 2A when working well and 15A+ when really bad.

I will try that setup without the rtdx at all and see if it works better.

back to smooth and 2A

Just add the rate transition

back to the old problems (10A) I have had these problems before with rate transitions but I was not sure how I got rid of them

It may be worthwhile removing the "deterministic daterministic data transfer" box

still jerky

now I have just put in the to RTDX without any rate transition

yay - worked

Now time to try to log the data. From past experience, this is where I will run into trouble as the high RTDX logging speed will trip up the processor

it slowed down the processor

70 per second = 70/8 mechanical hz = 525 rpm?