log cl control success

README.md

@@ -11,6 +11,12 @@ These are stepper drivers! They run:
 
 The hardware is set up to run on the 'UCBus', a synchronous embedded protocol that establishes a bus clock *and* data lines on one RS485/UART Phy. Details are not documented anywhere ATM, but it w o r k s. 
 
+## Closed Loop
+
+Circuits have a land for an AS5147P encoder, with which they can run closed-loop stepper control:
+
+![cl](log/2021-02-25_cl-step-perf.mp4)
+
 ## Melted Version V02
 
 I revisioned this recently to skip the module and just build the whole circuit on one board. Schematic is identical to V01, but now is much smaller (can fit on a NEMA14 size motor) and all components are SMT on one side, i.e. the AS5047P is on the same side as the H-Bridges, Micro etc. 

controller/client/clStepClient.js

@@ -198,7 +198,7 @@ pidSetBtn.onClick(() => {
 
 let angleRandoBtn = new Button(10, 400, 94, 14, 'targ')
 angleRandoBtn.onClick(() => {
-  let targ = Math.random() * 200 - 100
+  let targ = Math.random() * 360
   vm.setTarget(targ).then(() => {
     angleRandoBtn.good(`${targ.toFixed(3)}`, 250)
   }).catch((err) => {
@@ -219,7 +219,7 @@ angleWrapBtn.onClick(() => {
 
 // units per revolution
 
-let uprVal = new TextInput(10, 460, 100, 20, '40')
+let uprVal = new TextInput(10, 460, 100, 20, '59.6929')
 
 let uprBtn = new Button(10, 490, 94, 14, 'upr')
 uprBtn.onClick(() => {

log/cl-step-control-log.md

@@ -1405,4 +1405,10 @@ OK, all seems sound now. So tomorrow would be about setting this up in a 'real s
 - match vm api, 
 - build clank-stretch 
 - put it on the bus, check if all commands can still op. through the bus: this is higher bandwidth, check for drops etc, maybe you have to fix those now
-- configure to grab positions from the bus, you'll be mixing closed- and open-loop motors not irregularely. 
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+- configure to grab positions from the bus, you'll be mixing closed- and open-loop motors not irregularely. 
+
+## 2021 02 25 
+
+FWIW I made a demo of this today, and it looks pretty good:
+
+![perf](2021-02-25_cl-step-perf.mp4) 
\ No newline at end of file