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PID-controllers for position control, speed control and current control, vector PWM algorithm, Kalman filter. Inputs: SPI encoder, ADC for current sensing, button. Outputs: 3 PWM signals to driver, ...
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After initialization, all the numbers and chars are from 1'st row and 1'st column. Column's number is incremented automatically, according to size of words added, but to go to next line use a function ...