Added step/dir interface and refactored commander

askuric · askuric · commit 0ce7c0cac9bd · 2021-02-23T16:08:56.000+01:00
diff --git a/README.md b/README.md
@@ -11,7 +11,8 @@ Additionally, most of the efforts at this moment are still channeled towards the
 Therefore this is an attempt to: 
 - 🎯 Demystify FOC algorithm and make a robust but simple Arduino library: [Arduino *SimpleFOClibrary*](https://docs.simplefoc.com/arduino_simplefoc_library_showcase)
   - <i>Support as many <b>motor + sensor + driver + mcu</b> combinations out there</i>
-- 🎯 Develop a modular low-power BLDC driver board: [Arduino *SimpleFOCShield*](https://docs.simplefoc.com/arduino_simplefoc_shield_showcase).
+- 🎯 Develop a modular *low-power BLDC (Gimbal)* driver board: [*Arduino Simple**FOC**Shield*](https://docs.simplefoc.com/arduino_simplefoc_shield_showcase).
+- 🎯 Develop a modular *medium-power BLDC* driver board: [*Arduino Simple**FOC**PowerShield*](https://github.com/simplefoc/Arduino-SimpleFOC-PowerShield).
 
 ##### <b> NEXT RELEASE 📢:</b> <i>Simple<b>FOC</b>library v2.1
 > #### Implemented features in dev branch
diff --git a/examples/hardware_specific_examples/Bluepill_examples/encoder/bluepill_position_control/bluepill_position_control.ino b/examples/hardware_specific_examples/Bluepill_examples/encoder/bluepill_position_control/bluepill_position_control.ino
@@ -86,7 +86,7 @@ void setup() {
   motor.initFOC();
 
   // add target command T
-  command.add('T', doTarget);
+  command.add('T', doTarget, "target angle");
 
   Serial.println(F("Motor ready."));
   Serial.println(F(("Set the target angle using serial terminal:"));
diff --git a/examples/hardware_specific_examples/Bluepill_examples/magnetic_sensor/bluepill_position_control/bluepill_position_control.ino b/examples/hardware_specific_examples/Bluepill_examples/magnetic_sensor/bluepill_position_control/bluepill_position_control.ino
@@ -84,7 +84,7 @@ void setup() {
   motor.initFOC();
 
   // add target command T
-  command.add('T', doTarget);
+  command.add('T', doTarget, "target angle");
 
   Serial.println(F("Motor ready."));
   Serial.println(F("Set the target angle using serial terminal:"));
diff --git a/examples/hardware_specific_examples/DRV8302_driver/3pwm_example/encoder/full_control_serial/full_control_serial.ino b/examples/hardware_specific_examples/DRV8302_driver/3pwm_example/encoder/full_control_serial/full_control_serial.ino
@@ -39,7 +39,7 @@ void doB(){encoder.handleB();}
 
 // commander interface
 Commander command = Commander(Serial);
-void onA(char* cmd){ command.motor(&motor, cmd); }
+void onMotor(char* cmd){ command.motor(&motor, cmd); }
 
 void setup() {
 
@@ -105,7 +105,7 @@ void setup() {
   motor.target = 2;
 
   // define the motor id
-  command.add('A', onA);
+  command.add('A', onMotor, "motor");
 
   Serial.println(F("Full control example: "));
   Serial.println(F("Run user commands to configure and the motor (find the full command list in docs.simplefoc.com) \n "));
diff --git a/examples/hardware_specific_examples/DRV8302_driver/6pwm_example/encoder/full_control_serial/full_control_serial.ino b/examples/hardware_specific_examples/DRV8302_driver/6pwm_example/encoder/full_control_serial/full_control_serial.ino
@@ -42,7 +42,7 @@ void doB(){encoder.handleB();}
 
 // commander interface
 Commander command = Commander(Serial);
-void onA(char* cmd){ command.motor(&motor, cmd); }
+void onMotor(char* cmd){ command.motor(&motor, cmd); }
 
 void setup() {
 
@@ -106,7 +106,7 @@ void setup() {
   motor.target = 2;
 
   // define the motor id
-  command.add('A', onA);
+  command.add('A', onMotor, "motor");
 
   Serial.println(F("Full control example: "));
   Serial.println(F("Run user commands to configure and the motor (find the full command list in docs.simplefoc.com) \n "));
diff --git a/examples/hardware_specific_examples/ESP32/encoder/esp32_position_control/esp32_position_control.ino b/examples/hardware_specific_examples/ESP32/encoder/esp32_position_control/esp32_position_control.ino
@@ -78,7 +78,7 @@ void setup() {
   motor.initFOC();
 
   // add target command T
-  command.add('T', doTarget);
+  command.add('T', doTarget, "target angle");
 
   Serial.println(F("Motor ready."));
   Serial.println(F("Set the target angle using serial terminal:"));
diff --git a/examples/hardware_specific_examples/ESP32/magnetic_sensor/esp32_position_control/esp32_position_control.ino b/examples/hardware_specific_examples/ESP32/magnetic_sensor/esp32_position_control/esp32_position_control.ino
@@ -81,7 +81,7 @@ void setup() {
   motor.initFOC();
 
   // add target command T
-  command.add('T', doTarget);
+  command.add('T', doTarget, "target angle");
 
   Serial.println(F("Motor ready."));
   Serial.println(F("Set the target angle using serial terminal:"));
diff --git a/examples/hardware_specific_examples/HMBGC_example/position_control/position_control.ino b/examples/hardware_specific_examples/HMBGC_example/position_control/position_control.ino
@@ -97,7 +97,7 @@ void setup() {
   motor.initFOC();
 
   // add target command T
-  command.add('T', doTarget);
+  command.add('T', doTarget, "target angle");
 
   Serial.println(F("Motor ready."));
   Serial.println(F("Set the target angle using serial terminal:"));
diff --git a/examples/hardware_specific_examples/HMBGC_example/voltage_control/voltage_control.ino b/examples/hardware_specific_examples/HMBGC_example/voltage_control/voltage_control.ino
@@ -84,7 +84,7 @@ void setup() {
   motor.initFOC();
   
   // add target command T
-  command.add('T', doTarget);
+  command.add('T', doTarget, "target voltage");
 
   Serial.println(F("Motor ready."));
   Serial.println(F("Set the target voltage using serial terminal:"));
diff --git a/examples/hardware_specific_examples/SimpleFOCShield/version_v1/double_full_control_example/double_full_control_example.ino b/examples/hardware_specific_examples/SimpleFOCShield/version_v1/double_full_control_example/double_full_control_example.ino
@@ -94,8 +94,8 @@ void setup() {
   motor2.target = 2;
 
   // subscribe motor to the commander
-  command.add('A', doMotor1);
-  command.add('B', doMotor2);
+  command.add('A', doMotor1, "motor 1");
+  command.add('B', doMotor2, "motor 2");
 
   // Run user commands to configure and the motor (find the full command list in docs.simplefoc.com)
   Serial.println(F("Double motor sketch ready."));
diff --git a/examples/hardware_specific_examples/SimpleFOCShield/version_v1/single_full_control_example/single_full_control_example.ino b/examples/hardware_specific_examples/SimpleFOCShield/version_v1/single_full_control_example/single_full_control_example.ino
@@ -63,7 +63,7 @@ void setup() {
   motor.target = 2;
 
   // subscribe motor to the commander
-  command.add('M', doMotor);
+  command.add('M', doMotor, "motor");
 
   // Run user commands to configure and the motor (find the full command list in docs.simplefoc.com)
   Serial.println(F("Motor commands sketch | Initial motion control > torque/voltage : target 2V."));
diff --git a/examples/hardware_specific_examples/SimpleFOCShield/version_v2/double_full_control_example/double_full_control_example.ino b/examples/hardware_specific_examples/SimpleFOCShield/version_v2/double_full_control_example/double_full_control_example.ino
@@ -109,8 +109,8 @@ void setup() {
   motor2.target = 2;
 
   // subscribe motor to the commander
-  command.add('A', doMotor1);
-  command.add('B', doMotor2);
+  command.add('A', doMotor1, "motor 1");
+  command.add('B', doMotor2, "motor 2");
 
   // Run user commands to configure and the motor (find the full command list in docs.simplefoc.com)
   Serial.println(F("Double motor sketch ready."));
diff --git a/examples/hardware_specific_examples/SimpleFOCShield/version_v2/single_full_control_example/single_full_control_example.ino b/examples/hardware_specific_examples/SimpleFOCShield/version_v2/single_full_control_example/single_full_control_example.ino
@@ -70,7 +70,7 @@ void setup() {
   motor.target = 2;
 
   // subscribe motor to the commander
-  command.add('M', doMotor);
+  command.add('M', doMotor, "motor");
 
   // Run user commands to configure and the motor (find the full command list in docs.simplefoc.com)
   Serial.println(F("Motor commands sketch | Initial motion control > torque/voltage : target 2V."));
diff --git a/examples/motion_control/open_loop_motor_control/open_loop_position_example/open_loop_position_example.ino b/examples/motion_control/open_loop_motor_control/open_loop_position_example/open_loop_position_example.ino
@@ -38,7 +38,7 @@ void setup() {
   motor.init();
 
   // add target command T
-  command.add('T', doTarget);
+  command.add('T', doTarget, "target angle");
 
   Serial.begin(115200);
   Serial.println("Motor ready!");
diff --git a/examples/motion_control/open_loop_motor_control/open_loop_velocity_example/open_loop_velocity_example.ino b/examples/motion_control/open_loop_motor_control/open_loop_velocity_example/open_loop_velocity_example.ino
@@ -40,7 +40,7 @@ void setup() {
   motor.init();
 
   // add target command T
-  command.add('T', doTarget);
+  command.add('T', doTarget, "target velocity");
 
   Serial.begin(115200);
   Serial.println("Motor ready!");
diff --git a/examples/motion_control/position_motion_control/encoder/angle_control/angle_control.ino b/examples/motion_control/position_motion_control/encoder/angle_control/angle_control.ino
@@ -110,7 +110,7 @@ void setup() {
   motor.initFOC();
 
   // add target command T
-  command.add('T', doTarget);
+  command.add('T', doTarget, "target angle");
 
   Serial.println(F("Motor ready."));
   Serial.println(F("Set the target angle using serial terminal:"));
diff --git a/examples/motion_control/position_motion_control/hall_sensor/angle_control/angle_control.ino b/examples/motion_control/position_motion_control/hall_sensor/angle_control/angle_control.ino
@@ -104,7 +104,7 @@ void setup() {
   motor.initFOC();
 
   // add target command T
-  command.add('T', doTarget);
+  command.add('T', doTarget, "target angle");
 
   Serial.println(F("Motor ready."));
   Serial.println(F("Set the target angle using serial terminal:"));
diff --git a/examples/motion_control/position_motion_control/magnetic_sensor/angle_control/angle_control.ino b/examples/motion_control/position_motion_control/magnetic_sensor/angle_control/angle_control.ino
@@ -80,7 +80,7 @@ void setup() {
   motor.initFOC();
 
   // add target command T
-  command.add('T', doTarget);
+  command.add('T', doTarget, "target angle");
 
   Serial.println(F("Motor ready."));
   Serial.println(F("Set the target angle using serial terminal:"));
diff --git a/examples/motion_control/torque_control/encoder/current_control/current_control.ino b/examples/motion_control/torque_control/encoder/current_control/current_control.ino
@@ -2,7 +2,6 @@
  * 
  * Torque control example using current control loop.
  * 
- * 
  */
 #include <SimpleFOC.h>
 
@@ -20,7 +19,7 @@ void doB(){encoder.handleB();}
 // current sensor
 InlineCurrentSense current_sense = InlineCurrentSense(0.01, 50.0, A0, A2);
 
-// voltage set point variable
+// current set point variable
 float target_current = 0;
 // instantiate the commander
 Commander command = Commander(Serial);
@@ -41,6 +40,11 @@ void setup() {
   // link driver
   motor.linkDriver(&driver);
 
+  // current sense init hardware
+  current_sense.init();
+  // link the current sense to the motor
+  motor.linkCurrentSense(&current_sense);
+
   // set torque mode:
   // TorqueControlType::current 
   // TorqueControlType::voltage
@@ -75,10 +79,10 @@ void setup() {
   motor.initFOC();
 
   // add target command T
-  command.add('T', doTarget);
+  command.add('T', doTarget, "target current");
 
   Serial.println(F("Motor ready."));
-  Serial.println(F("Set the target voltage using serial terminal:"));
+  Serial.println(F("Set the target current using serial terminal:"));
   _delay(1000);
 }
 
diff --git a/examples/motion_control/torque_control/encoder/voltage_control/voltage_control.ino b/examples/motion_control/torque_control/encoder/voltage_control/voltage_control.ino
@@ -66,7 +66,7 @@ void setup() {
   motor.initFOC();
 
   // add target command T
-  command.add('T', doTarget);
+  command.add('T', doTarget, "target voltage");
 
   Serial.println(F("Motor ready."));
   Serial.println(F("Set the target voltage using serial terminal:"));
diff --git a/examples/motion_control/torque_control/hall_sensor/voltage_control/voltage_control.ino b/examples/motion_control/torque_control/hall_sensor/voltage_control/voltage_control.ino
@@ -68,7 +68,7 @@ void setup() {
   motor.initFOC();
 
   // add target command T
-  command.add('T', doTarget);
+  command.add('T', doTarget, "target voltage");
 
   Serial.println(F("Motor ready."));
   Serial.println(F("Set the target voltage using serial terminal:"));
diff --git a/examples/motion_control/torque_control/magnetic_sensor/voltage_control/voltage_control.ino b/examples/motion_control/torque_control/magnetic_sensor/voltage_control/voltage_control.ino
@@ -58,7 +58,7 @@ void setup() {
   motor.initFOC();
 
   // add target command T
-  command.add('T', doTarget);
+  command.add('T', doTarget, "target voltage");
 
   Serial.println(F("Motor ready."));
   Serial.println(F("Set the target voltage using serial terminal:"));
diff --git a/examples/motion_control/velocity_motion_control/encoder/velocity_control/velocity_control.ino b/examples/motion_control/velocity_motion_control/encoder/velocity_control/velocity_control.ino
@@ -107,7 +107,7 @@ void setup() {
   motor.initFOC();
 
   // add target command T
-  command.add('T', doTarget);
+  command.add('T', doTarget, "target velocity");
 
   Serial.println(F("Motor ready."));
   Serial.println(F("Set the target velocity using serial terminal:"));
diff --git a/examples/motion_control/velocity_motion_control/hall_sensor/velocity_control.ino b/examples/motion_control/velocity_motion_control/hall_sensor/velocity_control.ino
@@ -95,7 +95,7 @@ void setup() {
   motor.initFOC();
 
   // add target command T
-  command.add('T', doTarget);
+  command.add('T', doTarget, "target voltage");
 
   Serial.println(F("Motor ready."));
   Serial.println(F("Set the target velocity using serial terminal:"));
diff --git a/examples/motion_control/velocity_motion_control/magnetic_sensor/velocity_control/velocity_control.ino b/examples/motion_control/velocity_motion_control/magnetic_sensor/velocity_control/velocity_control.ino
@@ -77,7 +77,7 @@ void setup() {
   motor.initFOC();
 
   // add target command T
-  command.add('T', doTarget);
+  command.add('T', doTarget, "target voltage");
 
   Serial.println(F("Motor ready."));
   Serial.println(F("Set the target velocity using serial terminal:"));
diff --git a/examples/motor_commands_serial_examples/encoder/full_control_serial/full_control_serial.ino b/examples/motor_commands_serial_examples/encoder/full_control_serial/full_control_serial.ino
@@ -56,7 +56,7 @@ void doB(){encoder.handleB();}
 
 // commander interface
 Commander command = Commander(Serial);
-void onA(char* cmd){ command.motor(&motor, cmd); }
+void onMotor(char* cmd){ command.motor(&motor, cmd); }
 
 void setup() {
 
@@ -109,7 +109,7 @@ void setup() {
   motor.target = 2;
 
   // define the motor id
-  command.add('A', onA);
+  command.add('A', onMotor, "motor");
 
   // Run user commands to configure and the motor (find the full command list in docs.simplefoc.com)
   Serial.println(F("Motor commands sketch | Initial motion control > torque/voltage : target 2V."));
diff --git a/examples/motor_commands_serial_examples/hall_sensor/full_control_serial/full_control_serial.ino b/examples/motor_commands_serial_examples/hall_sensor/full_control_serial/full_control_serial.ino
@@ -62,7 +62,7 @@ PciListenerImp listenC(sensor.pinC, doC);
 
 // commander interface
 Commander command = Commander(Serial);
-void onA(char* cmd){ command.motor(&motor, cmd); }
+void onMotor(char* cmd){ command.motor(&motor, cmd); }
 
 
 void setup() {
@@ -117,7 +117,7 @@ void setup() {
   motor.target = 2;
 
   // define the motor id
-  command.add('A', onA);
+  command.add('A', onMotor, "motor");
 
   // Run user commands to configure and the motor (find the full command list in docs.simplefoc.com)
   Serial.println(F("Motor commands sketch | Initial motion control > torque/voltage : target 2V."));
diff --git a/examples/motor_commands_serial_examples/magnetic_sensor/full_control_serial/full_control_serial.ino b/examples/motor_commands_serial_examples/magnetic_sensor/full_control_serial/full_control_serial.ino
@@ -55,7 +55,7 @@ BLDCDriver3PWM driver = BLDCDriver3PWM(9, 5, 6, 8);
 
 // commander interface
 Commander command = Commander(Serial);
-void onA(char* cmd){ command.motor(&motor, cmd); }
+void onMotor(char* cmd){ command.motor(&motor, cmd); }
 
 void setup() {
 
@@ -107,7 +107,7 @@ void setup() {
   motor.target = 2;
 
   // define the motor id
-  command.add('A', onA);
+  command.add('A', onMotor, "motor");
 
   // Run user commands to configure and the motor (find the full command list in docs.simplefoc.com)
   Serial.println(F("Motor commands sketch | Initial motion control > torque/voltage : target 2V."));
diff --git a/examples/utils/communication_test/commander/commander_extend_example/commander_extend_example.ino b/examples/utils/communication_test/commander/commander_extend_example/commander_extend_example.ino
@@ -9,14 +9,12 @@ Commander command = Commander(Serial);
 
 // led control function
 void doLed(char* cmd){ 
-    if(cmd[0] == CMD_SCAN ) Serial.println("led control"); 
-    else if(atoi(cmd)) digitalWrite(LED_BUILTIN, HIGH); 
+    if(atoi(cmd)) digitalWrite(LED_BUILTIN, HIGH); 
     else digitalWrite(LED_BUILTIN, LOW); 
 };
 // get analog input 
 void doAnalog(char* cmd){ 
-    if(cmd[0] == CMD_SCAN ) Serial.println("analog read A0-A4");
-    else if (cmd[0] == '0') Serial.println(analogRead(A0));
+    if (cmd[0] == '0') Serial.println(analogRead(A0));
     else if (cmd[0] == '1') Serial.println(analogRead(A1));
     else if (cmd[0] == '2') Serial.println(analogRead(A2));
     else if (cmd[0] == '3') Serial.println(analogRead(A3));
@@ -36,8 +34,8 @@ void setup() {
     Serial.begin(115200);
 
     // add new commands
-    command.add('L', doLed);
-    command.add('A', doAnalog);
+    command.add('L', doLed, "led on/off");
+    command.add('A', doAnalog, "analog read A0-A4");
 
     Serial.println(F("Commander listening"));
     Serial.println(F(" - Send ? to see the node list..."));
@@ -51,5 +49,5 @@ void loop() {
 
     // user communication
     command.run(); 
-    _delay(300);
+    _delay(10);
 }
diff --git a/examples/utils/communication_test/commander/commander_no_serial/commander_no_serial.ino b/examples/utils/communication_test/commander/commander_no_serial/commander_no_serial.ino
@@ -9,14 +9,12 @@ Commander command = Commander();
 
 // led control function
 void doLed(char* cmd){ 
-    if(cmd[0] == CMD_SCAN ) Serial.println("led control"); 
-    else if(atoi(cmd)) digitalWrite(LED_BUILTIN, HIGH); 
+    if(atoi(cmd)) digitalWrite(LED_BUILTIN, HIGH); 
     else digitalWrite(LED_BUILTIN, LOW); 
 };
 // get analog input 
 void doAnalog(char* cmd){ 
-    if(cmd[0] == CMD_SCAN ) Serial.println("analog read A0-A1");
-    else if (cmd[0] == '0') Serial.println(analogRead(A0));
+    if (cmd[0] == '0') Serial.println(analogRead(A0));
     else if (cmd[0] == '1') Serial.println(analogRead(A1));
 };
 
@@ -30,8 +28,8 @@ void setup() {
     Serial.begin(115200);
 
     // add new commands
-    command.add('L', doLed);
-    command.add('A', doAnalog);
+    command.add('L', doLed, "led control");
+    command.add('A', doAnalog, "analog read A0-A1");
 
     Serial.println(F("Commander running"));
     _delay(1000);
diff --git a/examples/utils/communication_test/commander/commander_tune_custom_loop/commander_tune_custom_loop.ino b/examples/utils/communication_test/commander/commander_tune_custom_loop/commander_tune_custom_loop.ino
diff --git a/examples/utils/communication_test/step_dir/step_dir_listener_software_interrupt/step_dir_listener_software _interrupt.ino b/examples/utils/communication_test/step_dir/step_dir_listener_software_interrupt/step_dir_listener_software _interrupt.ino
diff --git a/keywords.txt b/keywords.txt
diff --git a/src/common/base_classes/FOCMotor.cpp b/src/common/base_classes/FOCMotor.cpp
diff --git a/src/common/base_classes/FOCMotor.h b/src/common/base_classes/FOCMotor.h
diff --git a/src/communication/Commander.cpp b/src/communication/Commander.cpp
diff --git a/src/communication/Commander.h b/src/communication/Commander.h
diff --git a/src/communication/StepDirListener.cpp b/src/communication/StepDirListener.cpp
diff --git a/src/communication/StepDirListener.h b/src/communication/StepDirListener.h
