Hey guys,
Say we have a subsystem that could use the FOC of a kraken at the start for extra torque, but in motion could use the extra speed. Would it be safe to switch between control request types for Krakens while driving?
Thank you so much
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From the motor’s point of view current is current and it won’t care, the answer to this question is entirely dependent on how CTRE implemented this.
It is unlikely they botched such that a change will cause damage to the controller while moving, but it may not be a smooth transition and briefly blip the motor or something else you notice.
Past my depth, but CTRE also splits CAN commands into one’s that are acted on instantly and others that can be delayed because lower priority. I assume changing modes like that is in the latter bucket so it may not happen as quickly as you like.
Past all that… the Krakens are plenty powerful, it seems unlikely you need to do this at all. Gear for the speed you want with FOC.
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