High frequency PWM control

[samuelensl]

Hello,

I’m doing research with a crazyflie bolt (fixed to a road) and I need to «reproduce » a pwm signal from a real flight. I have a pwm timeseries in a file. My question is how can I input this pwm timeseries to reproduce ce motor motion ?

Also, I’m interested to do sinus oscillation of the pwm with a specific mean and standard deviation.

Actually I’m controlling the pwm with the python library (Syncrazyflie) with a crazy radio but I doubt that it is possible to control the pwm at high frequency (from some Hz up to 100Hz if it is possible).

Thanks in advance if you have some ideas !

[gemenerik]

Hi Samuel! Did you record the PWM from the system? If so, you should be able to just put it back in where it was recorded. If not, you'll need to figure out where the PWM data is fed in—that’s where you’d inject your timeseries. You might want to check motors.c. For the sinusoid part, I’m not entirely sure what you’re asking—if you just want to modify the PWM with a sinusoidal pattern, you can program that in on top of your data. For high-frequency control, running it onboard is probably a better idea. You could still use the Python lib to send the data first and then execute it from there. If you're stuck on a specific part of this, let me know what you've tried so far.

[gemenerik]

A few to ~100 Hz should be fine through the radio, but keep in mind it will introduce some delay.