change to motor controlling to temper high-pitched noise

src/B_G431B_ESC1_motor_controller/B_G431B_ESC1_motor_controller.ino

@@ -42,7 +42,7 @@ void setup() {
 
   // enable more verbose output for debugging
   // comment out if not needed
-  SimpleFOCDebug::enable(&Serial);
+  //SimpleFOCDebug::enable(&Serial);
 
   // initialize encoder sensor hardware
   sensor.init();
@@ -83,9 +83,9 @@ void setup() {
   motor.PID_velocity.P = 0.01;
   motor.PID_velocity.I = 0.004;
 
-  driver.voltage_limit = 8;
-  motor.voltage_limit = 4;
-  //motor.current_limit = 2;
+  driver.voltage_limit = 10;
+  motor.voltage_limit = 5;
+  //motor.current_limit = 0.2;
 
   motor.PID_velocity.limit = motor.voltage_limit;
 
@@ -94,13 +94,13 @@ void setup() {
   motor.PID_velocity.output_ramp = 10;
  
   // velocity low pass filtering time constant
-  //motor.LPF_velocity.Tf = 0.1;
+  motor.LPF_velocity.Tf = 0.01;
 
   // comment out if not needed
-  motor.useMonitoring(Serial);
+  //motor.useMonitoring(Serial);
 
-  motor.monitor_downsample = 10000;
-  //motor.motion_downsample = 4;
+  //motor.monitor_downsample = 100000;
+  motor.motion_downsample = 1;
   
   // initialize motor
   motor.init();
@@ -118,6 +118,7 @@ void setup() {
 }
 
 void loop() {
+
   // main FOC algorithm function
   motor.loopFOC();
 
@@ -129,6 +130,7 @@ void loop() {
   // Motion control function
   motor.move(targetV);
 
+  
   if (abs(motor.target) < 20.0f && motor.enabled==1)
     motor.disable();
   if (abs(motor.target) >= 20.0f && motor.enabled==0)
@@ -136,10 +138,18 @@ void loop() {
 
   // function intended to be used with serial plotter to monitor motor variables
   // significantly slowing the execution down!!!!
-  motor.monitor();
+  //motor.monitor();
   
   // user communication
+  /*
+  static uint32_t lastSerialRead = 0;
+  if (lastSerialRead == 32) {
+    lastSerialRead = 0;
+    commandESP.run();
+    commandComp.run();
+  }
+  lastSerialRead += 1;
+  */
   commandESP.run();
-  commandComp.run();
-
+  //commandComp.run();
 }