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@ -55,14 +55,14 @@ For the reverse-engineered schematics of the mainboard, see [20150722_hoverboard
---
## FOC Firmware
In this firmware 3 control types are available:
- Commutation
- SIN (Sinusoidal)
- FOC (Field Oriented Control) with the following 3 control modes:
- **VOLTAGE MODE**: in this mode the controller applies a constant Voltage to the motors. Recommended for robotics applications or applications where a fast motor response is required.
- **SPEED MODE**: in this mode a closed-loop controller realizes the input speed target by rejecting any of the disturbance (resistive load) applied to the motor. Recommended for robotics applications or constant speed applications.
- **TORQUE MODE**: in this mode the input torque target is realized. This mode enables motor "freewheeling" when the torque target is `0`. Recommended for most applications with a sitting human driver.
In this firmware 3 control types are available, it can be set in config.h file via CTRL_TYP_SEL parameter:
- Commutation (COM_CTRL)
- Sinusoidal (SIN_CTRL)
- Field Oriented Control (FOC_CTRL) with the following 3 control modes that can be set in config.h file with parameter CTRL_MOD_REQ:
- **VOLTAGE MODE(VLT_MODE)**: in this mode the controller applies a constant Voltage to the motors. Recommended for robotics applications or applications where a fast motor response is required.
- **SPEED MODE(SPD_MODE)**: in this mode a closed-loop controller realizes the input speed target by rejecting any of the disturbance (resistive load) applied to the motor. Recommended for robotics applications or constant speed applications.
- **TORQUE MODE(TRQ_MODE)**: in this mode the input torque target is realized. This mode enables motor "freewheeling" when the torque target is `0`. Recommended for most applications with a sitting human driver.
#### Comparison between different control methods
|Control method| Complexity | Efficiency | Smoothness | Field Weakening | Freewheeling | Standstill hold |