From 2ab9604de4c1acc2a39cbec93fe300ab2e9da45b Mon Sep 17 00:00:00 2001
From: Jake <jake.read@cba.mit.edu>
Date: Tue, 30 Oct 2018 21:59:17 -0400
Subject: [PATCH] add notes

---
 embedded/README.md | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/embedded/README.md b/embedded/README.md
index 36e7c6a..d3ed44a 100644
--- a/embedded/README.md
+++ b/embedded/README.md
@@ -43,4 +43,7 @@ bulletproof commutation is encoder-based - low speed, at stall, with variable mo
 # Notes
 
  - read shane colton's pdf on sensorless field oriented control, and his park-transform free FOC solution: sounds cool. finish phase search algorithm.
- - FOC is basically finding the right phase offset to correct for inductance... with the inputs of current current vector, current position, we should be able so search for the optimum voltage vector. 2D.
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+ - FOC is basically finding the right phase offset to correct for inductance... with the inputs of current current vector, current position, we should be able so search for the optimum voltage vector. 2D.
+ - two things: 
+  - direct encoder -> commutation loop is too dumb, but close. just needs state estimated rotor position, can't read encoder often enough: use simple linear guess from speed or do kalman filter
+  - to test current controller / sensing hardware, take the rotor off and write a very simple controller for the I term on one phase. duh.
\ No newline at end of file
-- 
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