Merge pull request #54 from simplefoc/feat_stepper_calib

Extension of the CalibratedSensor

Author: runger1101001

.github/workflows/ccpp.yml

@@ -26,14 +26,14 @@ jobs:
           - arduino:mbed_rp2040:pico                 # rpi pico          
         include:
           - arduino-boards-fqbn: arduino:avr:nano
-            sketches-exclude: calibrated mt6816_spi smoothing simplefocnano_torque_voltage
+            sketches-exclude: calibrated calibration_save mt6816_spi smoothing simplefocnano_torque_voltage
             required-libraries: Simple FOC
           - arduino-boards-fqbn: arduino:sam:arduino_due_x
             required-libraries: Simple FOC
-            sketches-exclude: calibrated smoothing simplefocnano_torque_voltage simplefocnano_atmega
+            sketches-exclude: calibrated calibration_save smoothing simplefocnano_torque_voltage simplefocnano_atmega
           - arduino-boards-fqbn: arduino:samd:nano_33_iot
             required-libraries: Simple FOC 
-            sketches-exclude: calibrated smoothing
+            sketches-exclude: calibrated calibration_save  smoothing
           - arduino-boards-fqbn: arduino:mbed_rp2040:pico
             required-libraries: Simple FOC
             sketches-exclude: calibrated smoothing simplefocnano_torque_voltage simplefocnano_atmega

examples/encoders/calibrated/calibrated.ino renamed to examples/encoders/calibrated_sensor/calibrated/calibrated.ino

@@ -1,10 +1,5 @@
 /**
- * Torque control example using voltage control loop.
- * 
- * Most of the low-end BLDC driver boards doesn't have current measurement therefore SimpleFOC offers 
- * you a way to control motor torque by setting the voltage to the motor instead hte current. 
- * 
- * This makes the BLDC motor effectively a DC motor, and you can use it in a same way.
+ * The example demonstrates the usage of the calibrated sensor object.
  */
 #include <SimpleFOC.h>
 #include <SimpleFOCDrivers.h>
@@ -16,6 +11,8 @@ MagneticSensorSPI sensor = MagneticSensorSPI(AS5048_SPI, PB6);
 BLDCMotor motor = BLDCMotor(11);
 BLDCDriver3PWM driver = BLDCDriver3PWM(PB4,PC7,PB10,PA9);
 // instantiate the calibrated sensor object
+// argument 1 - sensor object
+// argument 2 - number of samples in the LUT (default 200)
 CalibratedSensor sensor_calibrated = CalibratedSensor(sensor);
 
 // voltage set point variable
@@ -58,6 +55,7 @@ void setup() {
   // set voltage to run calibration
   sensor_calibrated.voltage_calibration = 6;
   // Running calibration
+  // it will ouptut the LUT and the zero electrical angle to the serial monitor !!!!
   sensor_calibrated.calibrate(motor); 
 
   //Serial.println("Calibrating Sensor Done.");

examples/encoders/calibrated_sensor/calibration_save/calibration_save.ino

@@ -0,0 +1,86 @@
+/**
+ * The example demonstrates the calibration of the magnetic sensor with the calibration procedure and saving the calibration data. 
+ * So that the calibration procedure does not have to be run every time the motor is powered up.
+ */
+
+#include <SimpleFOC.h>
+#include <SimpleFOCDrivers.h>
+#include "encoders/calibrated/CalibratedSensor.h"
+
+// fill this array with the calibration values outputed by the calibration procedure
+float calibrationLut[50] = {0};
+float zero_electric_angle = 0;
+Direction sensor_direction = Direction::CW;
+
+// magnetic sensor instance - SPI
+MagneticSensorSPI sensor = MagneticSensorSPI(AS5147_SPI, 14);
+// Stepper motor & driver instance
+StepperMotor motor = StepperMotor(50);
+StepperDriver4PWM driver = StepperDriver4PWM(10, 9, 5, 6,8);
+// instantiate the calibrated sensor object
+// instantiate the calibrated sensor object
+// argument 1 - sensor object
+// argument 2 - number of samples in the LUT (default 200)
+// argument 3 - pointer to the LUT array (defualt nullptr)
+CalibratedSensor sensor_calibrated = CalibratedSensor(sensor, 50);
+
+// voltage set point variable
+float target_voltage = 2;
+
+// instantiate the commander
+Commander command = Commander(Serial);
+
+void doTarget(char* cmd) { command.scalar(&target_voltage, cmd); }
+
+void setup() {
+
+  sensor.init();
+  // Link motor to sensor
+  motor.linkSensor(&sensor);
+  // power supply voltage
+  driver.voltage_power_supply = 20;
+  driver.init();
+  motor.linkDriver(&driver);
+  // aligning voltage 
+  motor.voltage_sensor_align = 8;
+  motor.voltage_limit = 20;
+  // set motion control loop to be used
+  motor.controller = MotionControlType::torque;
+
+  // use monitoring with serial 
+  Serial.begin(115200);
+  // comment out if not needed
+  motor.useMonitoring(Serial);
+  motor.monitor_variables =  _MON_VEL; 
+  motor.monitor_downsample = 10; // default 10
+
+  // initialize motor
+  motor.init();
+
+  // Running calibration
+  // the function will setup everything for the provided calibration LUT
+  sensor_calibrated.calibrate(motor, calibrationLut, zero_electric_angle, sensor_direction);
+
+  // Linking sensor to motor object
+  motor.linkSensor(&sensor_calibrated);
+
+  // calibrated init FOC
+  motor.initFOC();
+
+  // add target command T
+  command.add('T', doTarget, "target voltage");
+  
+  Serial.println(F("Motor ready."));
+
+  Serial.println(F("Set the target voltage using serial terminal:"));
+  _delay(1000);
+}
+
+void loop() {
+
+  motor.loopFOC();
+  motor.move(target_voltage);
+  command.run();
+  motor.monitor();
+ 
+}