Added max duty for controllable dead time between phases

src/motor-esp32/main.cpp

@@ -20,7 +20,7 @@ void loop() {
     Serial.print(get_motor_duty(1));
     Serial.print(", ");
     Serial.println(get_roller_speed(0));
-    set_motor(0, true, 0.3);
+    set_motor(0, true, ((millis()%5000)/5000.0)*0.65);
     set_motor(1, true, 0.3);
     set_motor(2, true, 0.3);
 }

src/motor-esp32/motor_control.cpp

@@ -16,7 +16,7 @@
 typedef struct {
     bool enabled = false;
     float desired_speed = 0.0;
-    float kp = 1.0;
+    float kp = 0.5;
     float ki = 0.0;
     float kd = 0.0;
     float min_duty = 0.1;
@@ -80,7 +80,7 @@ static void motor_control_task(void *pvParameters) {
                 }
 
                 // Map duty to fit between min and tri-phase for actual motor PWM
-                mapped_duty = 0.33 * (m_stat[m_id].duty * (1.0 - m_set.min_duty) + m_set.min_duty);
+                mapped_duty = 0.33 * (m_stat[m_id].duty * (MAX_DUTY - m_set.min_duty) + m_set.min_duty);
                 // This function takes duty as a float percent...
                 mcpwm_set_duty(MCPWM_UNIT_0, motor_timer[m_id], MCPWM_GEN_A, mapped_duty * 100.0);
 

src/motor-esp32/motor_control.h

@@ -5,7 +5,9 @@
 
 #define MOTOR_CONTROL_PERIOD_MS 100 // Period of the motor control loop
 
-#define MAX_DUTY_RAMP 5.0 // max change in duty per second - where 1.0 is full duty
+#define MAX_DUTY_RAMP 20.0 // max change in duty per second - where 1.0 is full duty
+
+#define MAX_DUTY 0.99 // max duty in each phase - have slightly below 1.0 to give more dead time between phases
 
 void set_motor(int motor_id, bool enabled, float desired_speed);