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Update torque mode description in readme

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juodumas 2020-05-03 22:34:48 +03:00
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README.md
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@ -30,7 +30,7 @@ http://vocke.tv/lib/exe/fetch.php?media=20150722_hoverboard_sch.pdf
This new firmware offers 3 control modes: This new firmware offers 3 control modes:
- **VOLTAGE MODE**: in this mode the controller applies a constant Voltage to the motors - **VOLTAGE MODE**: in this mode the controller applies a constant Voltage to the motors
- **SPEED MODE**: in this mode a closed-loop controller realizes the input target speed by rejecting any of the disturbance (resistive load) applied to the motor - **SPEED MODE**: in this mode a closed-loop controller realizes the input target speed by rejecting any of the disturbance (resistive load) applied to the motor
- **TORQUE MODE**: in this mode the target torque set by the user is realized. This mode enables motor "freewheeling" when the torque target is "0". - **TORQUE MODE**: in this mode the target torque set by the user is realized. This mode enables motor "freewheeling" when the torque target is "0". Recommended for most applications with a sitting human driver. If you want the motor to brake instead of "freewheel" when torque target is "0", modify code to set torque target below "0" when `speedAvgAbs > 0`.
In all the modes, the controller features maximum motor speed and maximum motor current protection. This brings great advantages to fulfil the needs of many robotic applications while maintaining safe operation. In all the modes, the controller features maximum motor speed and maximum motor current protection. This brings great advantages to fulfil the needs of many robotic applications while maintaining safe operation.
- The C code for the controller was auto-code generated using [Matlab/Simulink](https://nl.mathworks.com/solutions/embedded-code-generation.html) from a model which I developed from scratch specifically for hoverboard control. For more details regarding the working principle of the controller please consult the [Matlab/Simulink model](/01_Matlab). - The C code for the controller was auto-code generated using [Matlab/Simulink](https://nl.mathworks.com/solutions/embedded-code-generation.html) from a model which I developed from scratch specifically for hoverboard control. For more details regarding the working principle of the controller please consult the [Matlab/Simulink model](/01_Matlab).