add atmega example for simplefocnano shield

Author: runger1101001

.github/workflows/ccpp.yml

@@ -26,41 +26,41 @@ jobs:
           - arduino:mbed_rp2040:pico                 # rpi pico          
         include:
           - arduino-boards-fqbn: arduino:avr:nano
-            sketches-exclude: calibrated mt6816_spi smoothing
+            sketches-exclude: calibrated 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
+            sketches-exclude: calibrated smoothing simplefocnano_torque_voltage simplefocnano_atmega
           - 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 simplefocnano_torque_voltage
+            sketches-exclude: calibrated smoothing simplefocnano_torque_voltage simplefocnano_atmega
           - 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 simplefocnano_torque_voltage
+            sketches-exclude: calibrated smoothing simplefocnano_torque_voltage simplefocnano_atmega
           # - 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 simplefocnano_torque_voltage
+            sketches-exclude: calibrated smoothing simplefocnano_torque_voltage simplefocnano_atmega
           - 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 simplefocnano_torque_voltage
+            sketches-exclude: calibrated smoothing simplefocnano_torque_voltage simplefocnano_atmega
           - 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 simplefocnano_torque_voltage
+            sketches-exclude: calibrated mt6816_spi smoothing simplefocnano_torque_voltage simplefocnano_atmega
           - 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 simplefocnano_torque_voltage
+            sketches-exclude: smoothing simplefocnano_torque_voltage simplefocnano_atmega
       # Do not cancel all jobs / architectures if one job fails
       fail-fast: false
     steps:

examples/drivers/simplefocnano/simplefocnano_atmega/simplefocnano_atmega.ino

@@ -0,0 +1,68 @@
+#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
+
+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(5.0f, 1024); // 5V reference, 10-bit ADC
+  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
+
+  Serial.println("Motor ready.");
+  loopts = millis();
+
+  // Set the motor target to 2 volts
+  motor.target = 2.0f;
+}
+
+
+void loop() {
+  motor.move();
+  motor.loopFOC();
+  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;
+}