Significantly Better Motor Control and Gripper CAD

The motor code was getting a bit messy, so I rewrote it. I separated the motor code from the main control code which cleaned it up a bit.

LADRC

I’m using LADRC now. It’s kind of like PID, but advanced. I took the implementation from online.

I feed it the motor current, encoder value, and the target and it goes. The algorithm or whatever somehow calculates the velocity of the motor and how much “effort” it’s using and then gives an effort to put to the motor. It somehow cancels out like disturbances like gravity, backlash, the general physics, etc.

As you can see, the motor control is so so so much better than before. It cleanly decelerates. It handles load and dynamically increases effort. Before there was some oscillation because it just couldn’t figure out how to get to the target, this one is just so much better and so hands off. There’s basically like no calibration as it does it over time :)))