Issue with trajectory_angular_displacement using Pico-SDK and cpp Module

[siddharth-mandaliya]

---

Description:
I am currently working on a project involving the use of the cpp module on rpi-pico to control the Vertiq 23-06 220kv motor for a gimbal application. I have encountered an issue with the smoothness of the motor movement using two different approaches, and I am seeking assistance to resolve it.

Issue with Code-1:
I initially used the following code (Code-1) with the pico-sdk, and while it functions properly, there is an undesirable jerk when the motor starts moving. angleRadian is a float type variable.

surface_ctrl.ctrl_angle_.set(com, angleRadian);

Issue with Code-2:
To address the jerkiness, I implemented a second method (Code-2) that provides a smoother trajectory using the following commands:

surface_ctrl.trajectory_angular_displacement_.set(com, 3.14f);
surface_ctrl.trajectory_duration_.set(com, 2.0f);

However, when attempting to use Code-2 with the pico-sdk and cpp module, the rpi-pico crashes, and no output is observed on the serial monitor. It's important to note that I am specifically interested in using pico-sdk with the cpp library, not the Arduino adaptation, as other connected devices perform better with direct cpp and pico-sdk integration.

Request for Assistance:
I seek guidance on how to prevent the crash when using trajectory_angular_displacement or alternative approaches to ensure a smooth trajectory without jerky motor movements. Given that the motor is intended for a gimbal application, where small angle changes are crucial, achieving smooth operation is paramount.

Additional Information:

• I have already attempted to break down large movements into multiple small angles, but this did not result in the desired smoothness.
• I successfully replicated the smooth trajectory (code-2) using the Arduino IDE and the IQ-Module headers for Arduino but encountered issues when attempting the equivalent with pico-sdk.

Any insights or recommendations on optimizing the code for smooth motor control in both directions would be greatly appreciated.

Thank you in advance for your assistance.