I see in the motor type enum that there is a MOTOR_TYPE_LOW_CURRENT commented out. Are there any plans to implement this in the end? Or is there another way I can get true constant-current control with motors that are in the 4 Ohm resistance & 0.001 mH inductance range?
I am using some smaller motors that are relatively high resistance and will only be drawing 1-2A. Because of the high resistance (line-to-line is 8.0 Ohms), the advice I’ve seen so far has been to go with the Gimbal control mode. I’m able to get the motors up and running with that, but I would still like to be able to command a specific, constant current, not a voltage.
I’m trying to do open-loop torque control at low velocities. I’m counting on there being a linear & non-time-varying relationship between my control input and the torque output. This is true for actual current control, but when I command a constant voltage (which is how Gimbal control mode interprets the constant current control), the motor begins to heat up, increasing the resistance of the windings and reducing the actual current that I’m getting by about 10% over the course of 10 minutes, which is too much variability for my application.
So, any ways I can get true constant-current control with higher-resistance motors?