Selection of KMC_SCALE and
KMC can be divided into two cases:
- Value of the
motor back emf constant, KV is known to the user
from the data sheet of the motor. Please refer to section
8.2.3.1.2.1 in DRV8234 data
sheet for the tuning guide in this case.
- Value of the
motor back emf constant, KV is unknown to the
user. Please refer to section 8.2.3.1.2.2.1 in DRV8234 data sheet for
the tuning guide in this case.
For the robot wheel motor,
the value of KV was unknown. Thus, step 2
was followed. KMC and KMC_SCALE need to be tuned manually from
scratch. Both parameters are reset at the start before tuning is
begun.