Hybrid throttle - EXPERIMENTAL FEATURE
warning
This is EXPERIMENTAL FEATURE. It may not work properly. Use with caution.
How it works
At low speed the throttle controls voltage (speed). At high speed throttle control current (torque).
How to enable this feature
Set parameter /acc/drvmode to value 40.
This will enable Hybrid throttle feature. After that tune next parameters to get good feel from the throttle.
Parameters
info
Mentioned variables are located in the folder /acc/acc_opts.
| name | description |
|---|---|
thr_curr_offset | At voltage mode, you can scale also current. 0 - current is scaled with voltage 1 - current is always na 100% and only voltage is scaled by throttle |
CUR_enter_margin | If drv_rel_voltage is higher than this, throttle enters current mode |
VLT_enter_margin | If drv_rel_voltage is lower than this, throttle enters voltage mode |
States
| name | description |
|---|---|
drv_rel_voltage | Relative voltage = Motor relative speed 0 - 1 |
drv_rel_current | Relative current = Motor relative current 0 - 1 1 - phase current = iref |