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Where to find codelines for speed and position control structure

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kianK
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Joined: 2021-04-15 07:04
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Where to find codelines for speed and position control structure

Hi people,

For the last few days, I was digging myself into the source-code of vesc-tool in order to find out how the control structure is build up.

I already found the PI-Current-Controller (detectfoc.cpp), but where is the speed and position control hidden?

Also, where is the anti-windup, deadtime-compensation etc.?

Thanks