add example and update test cases for SimpleFOCNano

Author: Richard Unger

.github/workflows/ccpp.yml

@@ -15,7 +15,7 @@ jobs:
     strategy:
       matrix:
         arduino-boards-fqbn:
-          - arduino:avr:uno                          # arudino uno
+          - arduino:avr:nano                         # arudino nano
           - arduino:sam:arduino_due_x                # arduino due
           - arduino:samd:nano_33_iot                 # samd21
           - adafruit:samd:adafruit_metro_m4          # samd51
@@ -25,42 +25,42 @@ jobs:
           - STMicroelectronics:stm32:Nucleo_64:pnum=NUCLEO_F411RE # stm32 nucleo
           - arduino:mbed_rp2040:pico                 # rpi pico          
         include:
-          - arduino-boards-fqbn: arduino:avr:uno
+          - arduino-boards-fqbn: arduino:avr:nano
             sketches-exclude: calibrated mt6816_spi smoothing
             required-libraries: Simple FOC
           - arduino-boards-fqbn: arduino:sam:arduino_due_x
             required-libraries: Simple FOC
-            sketches-exclude: calibrated smoothing
+            sketches-exclude: calibrated smoothing simplefocnano_torque_voltage
           - arduino-boards-fqbn: arduino:samd:nano_33_iot
             required-libraries: Simple FOC 
             sketches-exclude: calibrated smoothing
           - arduino-boards-fqbn: arduino:mbed_rp2040:pico
             required-libraries: Simple FOC
-            sketches-exclude: calibrated smoothing
+            sketches-exclude: calibrated smoothing simplefocnano_torque_voltage
           - arduino-boards-fqbn: adafruit:samd:adafruit_metro_m4
             platform-url: https://adafruit.github.io/arduino-board-index/package_adafruit_index.json
             required-libraries: Simple FOC
-            sketches-exclude: calibrated smoothing
+            sketches-exclude: calibrated smoothing simplefocnano_torque_voltage
           # - arduino-boards-fqbn: esp32:esp32:esp32doit-devkit-v1
           #   platform-url: https://dl.espressif.com/dl/package_esp32_index.json
           #   required-libraries: Simple FOC
           #   sketch-names: '**.ino'
           - arduino-boards-fqbn: esp32:esp32:esp32 # esp32 
             platform-url: https://espressif.github.io/arduino-esp32/package_esp32_index.json
             required-libraries: Simple FOC
-            sketches-exclude: calibrated smoothing
+            sketches-exclude: calibrated smoothing simplefocnano_torque_voltage
           - arduino-boards-fqbn: esp32:esp32:esp32s2 # esp32s2
             platform-url: https://espressif.github.io/arduino-esp32/package_esp32_index.json
             required-libraries: Simple FOC
-            sketches-exclude: calibrated smoothing
+            sketches-exclude: calibrated smoothing simplefocnano_torque_voltage
           - arduino-boards-fqbn: STMicroelectronics:stm32:GenF1:pnum=BLUEPILL_F103C8
             platform-url:  https://github.com/stm32duino/BoardManagerFiles/raw/main/package_stmicroelectronics_index.json 
             required-libraries: Simple FOC
-            sketches-exclude: calibrated mt6816_spi smoothing
+            sketches-exclude: calibrated mt6816_spi smoothing simplefocnano_torque_voltage
           - arduino-boards-fqbn: STMicroelectronics:stm32:Nucleo_64:pnum=NUCLEO_F411RE
             platform-url:  https://github.com/stm32duino/BoardManagerFiles/raw/main/package_stmicroelectronics_index.json
             required-libraries: Simple FOC
-            sketches-exclude: smoothing
+            sketches-exclude: smoothing simplefocnano_torque_voltage
       # Do not cancel all jobs / architectures if one job fails
       fail-fast: false
     steps:

examples/drivers/simplefocnano/simplefocnano_torque_voltage/simplefocnano_torque_voltage.ino

@@ -0,0 +1,71 @@
+#include <Arduino.h>
+#include <SPI.h>
+#include "SimpleFOC.h"
+#include "SimpleFOCDrivers.h"
+#include "drivers/simplefocnano/SimpleFOCNanoDriver.h"
+#include "encoders/as5048a/MagneticSensorAS5048A.h"
+
+
+MagneticSensorAS5048A sensor = MagneticSensorAS5048A(PIN_nCS);
+SimpleFOCNanoDriver driver = SimpleFOCNanoDriver();
+BLDCMotor motor = BLDCMotor(11);    // 11 pole pairs
+
+Commander commander = Commander(Serial);
+void doMotor(char* cmd) { commander.motor(&motor, cmd); }
+
+long loopts = 0;
+int iterations = 0;
+float volts = 0.0f;
+ 
+void setup() {
+  Serial.begin(115200);             // enable serial port
+  delay(5000);
+  SimpleFOCDebug::enable();         // enable debug messages to Serial
+
+  sensor.init();                    // init sensor on default SPI pins
+
+  // read voltage
+  SimpleFOCDebug::print("Bus voltage: ");
+  volts = driver.getBusVoltage(3.3, 4096);
+  SimpleFOCDebug::println(volts);
+  driver.voltage_power_supply = volts;  // set driver voltage to measured value
+  driver.voltage_limit = 10.0f;         // limit voltage to 10V
+  driver.pwm_frequency = 30000;         // set pwm frequency to 30kHz
+  driver.init();                        // init driver
+
+  motor.linkSensor(&sensor);        // link the motor to the sensor
+  motor.linkDriver(&driver);        // link the motor to the driver
+
+  motor.controller = MotionControlType::torque;             // torque control
+  motor.torque_controller = TorqueControlType::voltage;     // use voltage torque control
+  motor.voltage_limit = driver.voltage_limit / 2.0f;        // limit voltage to 1/2 of driver limit
+  motor.voltage_sensor_align = 4.0f;                        // align voltage sensor to 4V
+
+  motor.init();                     // init motor
+  delay(100);                       // wait for driver to power up
+  motor.initFOC();                  // init FOC and calibrate motor
+
+  commander.add('M', doMotor);      // add motor command
+
+  Serial.println("Motor ready.");
+  loopts = millis();
+}
+
+
+void loop() {
+  motor.move();
+  motor.loopFOC();
+  commander.run();
+  long now = millis();
+  iterations++;
+  if (now - loopts > 1000) {
+    Serial.print("Iterations/s: ");
+    Serial.println(iterations);
+    Serial.print("Angle: ");
+    Serial.println(sensor.getAngle());    
+    loopts = now;
+    iterations = 0;
+  }
+  if (now - loopts < 0)
+    loopts = 0;
+}

src/drivers/simplefocnano/README.md

@@ -1,7 +1,7 @@
 
 # SimpleFOCNano Driver Class
 
-The `SimpleFOCNanoDriver` is a wrapper class around BLDCDriver3PWM to make using the [SimpleFOCNano shield](link) super-simple.
+The `SimpleFOCNanoDriver` is a wrapper class around BLDCDriver3PWM to make using the [SimpleFOCNano shield](https://github.com/simplefoc/SimpleFOCNano) super-simple.
 
 If you use this driver you don't need to bother with any pin-numbers, they are all set correctly for you based on the SimpleFOCNano's pinout. Of course, this only works if you actually plug the shield into the Nano. If you use jumper wires, either make exactly the same connections as plugging in the shield would, or don't use this driver.