Happy new year! This month's update comes rather early, and brings several improvements all around, with the aim of making Tinymovr perform better and safer. The latest firmware & studio app feature the following improvements:

• Encoder outliers are now detected and used to set Tinymovr into an error state. In a nutshell, any reading with |d_{Pos}| > 1024 (ticks) will put Tinymovr into an error state and trigger transition to idle mode. The threshold value, 1024, is highly unlikely to be encountered during normal operation, as it corresponds to a rotational velocity of around 150000rpm, way above the control bandwidth at 20kHz.
• Hard limits for velocity and current have been added, and set to 45A and 600000ticks/s (around 4000rpm). This is as an additional safety to the user-configurable limits.
• Tinymovr now exposes the velocity integral term to both CAN and uart protocols. The integral term allows for better tracking of velocity throughout all ranges. Check out the docs for more.
• Various bug fixes and minor improvements all around.

Here is a brief demonstration of the velocity integrator in action tracking low velocities:

In addition, CAN bus adapters are back in stock at the Tinymovr store. Head over to the product page for more.

Stay safe and stay tuned for more updates!