This week, we worked on further tuning the medium size of the two big motors with UPMC with FOC code, which took a lot of calibration and debugging. We were convinced that we needed a backup plan in case FOC does not work out, which is why we also started writing firmware for the far more simple six step zero crossing motor control algorithm as a backup.

The dyno is assembled, after a whole lot more hours in the machine shop over the weekend, with the medium motor spinning for up to 1600 rpm at ~700W without losing control for at least 10 minutes. We verified that all of the safety shutoffs were implemented correctly, such as overvoltage/undervoltage, overcurrent/undercurrent, and an emergency stop when the motor loses control.