Hey, the project I am currently working on requires multi-turn position control using ABI encoder, i.e., if I input +900° then it should make 2 complete turns and one half turn to stop at 900° = 720° + 180° in forward direction and if I input -900° then it should make 2 complete turns and one half turn to stop at -900° = -720° - 180° in reverse direction. If there is any feature available in any version or any firmware of VESC it would be great, I had tried a few things by myself but failed in task of implementing pid control for multi-turn.
I have been trying sending position control commands via UART to the VESC with position greater than 360° like 400° but it ends up directly turning to 40° without completing a whole turn. It calculates the final position and directly achieves it.
Thanks in advance for your help and time.