FEAT if added phase resistance the torque control is with current

Author: askuric

src/BLDCMotor.cpp

@@ -28,7 +28,7 @@ void BLDCMotor::init() {
 
   // if no current sensing and the user has set the phase resistance of the motor use current limit to calculate the voltage limit
   if( !current_sense && _isset(phase_resistance)) {
-    float new_voltage_limit = current_limit * (phase_resistance*1.5); // v_lim = current_lim / (3/2 phase resistance) - worst case
+    float new_voltage_limit = current_limit * (phase_resistance); // v_lim = current_lim / (3/2 phase resistance) - worst case
     // use it if it is less then voltage_limit set by the user
     voltage_limit = new_voltage_limit < voltage_limit ? new_voltage_limit : voltage_limit;
   }
@@ -300,8 +300,9 @@ void BLDCMotor::move(float new_target) {
 
   switch (controller) {
     case MotionControlType::torque:
-      if(torque_controller == TorqueControlType::voltage)
-        voltage.q =  target; // if voltage torque control
+      if(torque_controller == TorqueControlType::voltage) // if voltage torque control
+        if(!_isset(phase_resistance))  voltage.q = current_sp;
+        else voltage.q =  target*phase_resistance; 
       else 
         current_sp = target; // if current/foc_current torque control
       break;
@@ -316,7 +317,7 @@ void BLDCMotor::move(float new_target) {
       if(torque_controller == TorqueControlType::voltage){
         // use voltage if phase-resistance not provided
         if(!_isset(phase_resistance))  voltage.q = current_sp;
-        else  voltage.q = current_sp*1.5*phase_resistance;
+        else  voltage.q = current_sp*phase_resistance;
         voltage.d = 0;
       }
       break;
@@ -329,7 +330,7 @@ void BLDCMotor::move(float new_target) {
       if(torque_controller == TorqueControlType::voltage){
         // use voltage if phase-resistance not provided
         if(!_isset(phase_resistance))  voltage.q = current_sp;
-        else  voltage.q = current_sp*1.5*phase_resistance;
+        else  voltage.q = current_sp*phase_resistance;
         voltage.d = 0;
       }
       break;