Merge pull request #10 from owennewo/hall_sensor

Hall sensor support (and changes to calibration)

Author: askuric

examples/motion_control/position_motion_control/hall_sensor/angle_control/angle_control.ino

@@ -0,0 +1,144 @@
+/**
+ * 
+ * Position/angle motion control example
+ * Steps:
+ * 1) Configure the motor and hall sensor  
+ * 2) Run the code
+ * 3) Set the target angle (in radians) from serial terminal
+ * 
+ * 
+ * NOTE :
+ * > This is for Arduino UNO example code for running angle motion control specifically
+ * > Since Arduino UNO doesn't have enough interrupt pins we have to use software interrupt library PciManager.
+ *  
+ * > If running this code with Nucleo or Bluepill or any other board which has more than 2 interrupt pins 
+ * > you can supply doIndex directly to the sensr.enableInterrupts(doA,doB,doC) and avoid using PciManger
+ * 
+ * 
+ */
+#include <SimpleFOC.h>
+// software interrupt library
+#include <PciManager.h>
+#include <PciListenerImp.h>
+
+// motor instance
+BLDCMotor motor = BLDCMotor(9, 10, 11, 11, 8);
+
+// hall sensor instance
+HallSensor sensor = HallSensor(2, 3, 4, 11);
+
+// Interrupt routine intialisation
+// channel A and B callbacks
+void doA(){sensor.handleA();}
+void doB(){sensor.handleB();}
+void doC(){sensor.handleC();}
+// If no available hadware interrupt pins use the software interrupt
+PciListenerImp listenerIndex(sensor.pinC, doC);
+
+
+void setup() {
+  
+  // initialize sensor hardware
+  sensor.init();
+  sensor.enableInterrupts(doA, doB); //, doC); 
+  // software interrupts
+  PciManager.registerListener(&listenerIndex);
+  // link the motor to the sensor
+  motor.linkSensor(&sensor);
+
+  // power supply voltage [V]
+  motor.voltage_power_supply = 12;
+  // aligning voltage [V]
+  motor.voltage_sensor_align = 3;
+  // index search velocity [rad/s]
+  motor.velocity_index_search = 3;
+
+  // set motion control loop to be used
+  motor.controller = ControlType::angle;
+
+  // contoller configuration 
+  // default parameters in defaults.h
+
+  // velocity PI controller parameters
+  motor.PI_velocity.P = 0.2;
+  motor.PI_velocity.I = 2;
+  // default voltage_power_supply
+  motor.PI_velocity.voltage_limit = 6;
+  // jerk control using voltage voltage ramp
+  // default value is 300 volts per sec  ~ 0.3V per millisecond
+  motor.PI_velocity.voltage_ramp = 1000;
+ 
+  // velocity low pass filtering time constant
+  motor.LPF_velocity.Tf = 0.01;
+
+  // angle P controller
+  motor.P_angle.P = 20;
+  //  maximal velocity of the position control
+  motor.P_angle.velocity_limit = 4;
+
+
+  // use monitoring with serial 
+  Serial.begin(115200);
+  // comment out if not needed
+  motor.useMonitoring(Serial);
+  
+  // initialize motor
+  motor.init();
+  // align sensor and start FOC
+  motor.initFOC();
+
+
+  Serial.println("Motor ready.");
+  Serial.println("Set the target angle using serial terminal:");
+  _delay(1000);
+}
+
+// angle set point variable
+float target_angle = 0;
+
+void loop() {
+  // main FOC algorithm function
+  // the faster you run this function the better
+  // Arduino UNO loop  ~1kHz
+  // Bluepill loop ~10kHz 
+  motor.loopFOC();
+
+  // Motion control function
+  // velocity, position or voltage (defined in motor.controller)
+  // this function can be run at much lower frequency than loopFOC() function
+  // You can also use motor.move() and set the motor.target in the code
+  motor.move(target_angle);
+
+  // function intended to be used with serial plotter to monitor motor variables
+  // significantly slowing the execution down!!!!
+  // motor.monitor();
+  
+  // user communication
+  serialReceiveUserCommand();
+}
+
+// utility function enabling serial communication with the user to set the target values
+// this function can be implemented in serialEvent function as well
+void serialReceiveUserCommand() {
+  
+  // a string to hold incoming data
+  static String received_chars;
+  
+  while (Serial.available()) {
+    // get the new byte:
+    char inChar = (char)Serial.read();
+    // add it to the string buffer:
+    received_chars += inChar;
+    // end of user input
+    if (inChar == '\n') {
+      
+      // change the motor target
+      target_angle = received_chars.toFloat();
+      Serial.print("Target angle: ");
+      Serial.println(target_angle);
+      
+      // reset the command buffer 
+      received_chars = "";
+    }
+  }
+}

examples/motion_control/torque_voltage_control/hall_sensor/voltage_control/voltage_control.ino

@@ -0,0 +1,109 @@
+/**
+ * 
+ * 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 of the current. 
+ * 
+ * This makes the BLDC motor effectively a DC motor, and you can use it in a same way.
+ */
+#include <SimpleFOC.h>
+
+// motor instance
+BLDCMotor motor = BLDCMotor(9, 10, 11, 11, 7);
+
+// hall sensor instance
+HallSensor sensor = HallSensor(2, 3, 4, 11);
+
+// Interrupt routine intialisation
+// channel A and B callbacks
+void doA(){sensor.handleA();}
+void doB(){();}
+void doC(){sensor.handleC();}
+
+void setup() { 
+  
+  // initialize encoder sensor hardware
+  sensor.init();
+  sensor.enableInterrupts(doA, doB, doC); 
+  // link the motor to the sensor
+  motor.linkSensor(&sensor);
+
+  // power supply voltage
+  // default 12V
+  motor.voltage_power_supply = 12;
+  // aligning voltage
+  motor.voltage_sensor_align = 3;
+  
+  // choose FOC modulation (optional)
+  motor.foc_modulation = FOCModulationType::SpaceVectorPWM;
+
+  // set motion control loop to be used
+  motor.controller = ControlType::voltage;
+
+  // use monitoring with serial for motor init
+  // comment out if not needed
+  motor.useMonitoring(Serial);
+
+  // use monitoring with serial 
+  Serial.begin(115200);
+  // comment out if not needed
+  motor.useMonitoring(Serial);
+
+  // initialize motor
+  motor.init();
+  // align sensor and start FOC
+  motor.initFOC();
+
+  Serial.println("Motor ready.");
+  Serial.println("Set the target voltage using serial terminal:");
+  _delay(1000);
+}
+
+// target voltage to be set to the motor
+float target_voltage = 2;
+
+void loop() {
+
+  // main FOC algorithm function
+  // the faster you run this function the better
+  // Arduino UNO loop  ~1kHz
+  // Bluepill loop ~10kHz 
+  motor.loopFOC();
+
+  // Motion control function
+  // velocity, position or voltage (defined in motor.controller)
+  // this function can be run at much lower frequency than loopFOC() function
+  // You can also use motor.move() and set the motor.target in the code
+  motor.move(target_voltage);
+  
+  // communicate with the user
+  serialReceiveUserCommand();
+}
+
+
+// utility function enabling serial communication with the user to set the target values
+// this function can be implemented in serialEvent function as well
+void serialReceiveUserCommand() {
+  
+  // a string to hold incoming data
+  static String received_chars;
+  
+  while (Serial.available()) {
+    // get the new byte:
+    char inChar = (char)Serial.read();
+    // add it to the string buffer:
+    received_chars += inChar;
+    // end of user input
+    if (inChar == '\n') {
+      
+      // change the motor target
+      target_voltage = received_chars.toFloat();
+      Serial.print("Target voltage: ");
+      Serial.println(target_voltage);
+      
+      // reset the command buffer 
+      received_chars = "";
+    }
+  }
+}

examples/motion_control/velocity_motion_control/hall_sensor/velocity_control.ino

@@ -0,0 +1,136 @@
+/**
+ * 
+ * Velocity motion control example
+ * Steps:
+ * 1) Configure the motor and sensor 
+ * 2) Run the code
+ * 3) Set the target velocity (in radians per second) from serial terminal
+ * 
+ * 
+ * 
+ * NOTE :
+ * > Specifically for Arduino UNO example code for running velocity motion control using a hall sensor 
+ * > Since Arduino UNO doesn't have enough interrupt pins we have to use software interrupt library PciManager.
+ *  
+ * > If running this code with Nucleo or Bluepill or any other board which has more than 2 interrupt pins 
+ * > you can supply doC directly to the sensor.enableInterrupts(doA,doB,doC) and avoid using PciManger
+ * 
+ */
+#include <SimpleFOC.h>
+// software interrupt library
+#include <PciManager.h>
+#include <PciListenerImp.h>
+
+// motor instance
+BLDCMotor motor = BLDCMotor(9, 10, 11, 11, 8);
+
+// hall sensor instance
+HallSensor sensor = HallSensor(2, 3, 4, 11);
+
+// Interrupt routine intialisation
+// channel A and B callbacks
+void doA(){sensor.handleA();}
+void doB(){sensor.handleB();}
+void doC(){sensor.handleC();}
+// If no available hadware interrupt pins use the software interrupt
+PciListenerImp listenerIndex(sensor.pinC, doC);
+
+
+void setup() {
+
+  // initialize sensor sensor hardware
+  sensor.init();
+  sensor.enableInterrupts(doA, doB); //, doC); 
+  // software interrupts
+  PciManager.registerListener(&listenerIndex);
+  // link the motor to the sensor
+  motor.linkSensor(&sensor);
+
+  // power supply voltage [V]
+  motor.voltage_power_supply = 12;
+  // aligning voltage [V]
+  motor.voltage_sensor_align = 3;
+
+  // set motion control loop to be used
+  motor.controller = ControlType::velocity;
+
+  // contoller configuration 
+  // default parameters in defaults.h
+
+  // velocity PI controller parameters
+  motor.PI_velocity.P = 0.2;
+  motor.PI_velocity.I = 2;
+  // default voltage_power_supply
+  motor.PI_velocity.voltage_limit = 6;
+  // jerk control using voltage voltage ramp
+  // default value is 300 volts per sec  ~ 0.3V per millisecond
+  motor.PI_velocity.voltage_ramp = 1000;
+  
+  // velocity low pass filtering time constant
+  motor.LPF_velocity.Tf = 0.01;
+
+  // use monitoring with serial 
+  Serial.begin(115200);
+  // comment out if not needed
+  motor.useMonitoring(Serial);
+
+  // initialize motor
+  motor.init();
+  // align sensor and start FOC
+  motor.initFOC();
+
+  Serial.println("Motor ready.");
+  Serial.println("Set the target velocity using serial terminal:");
+  _delay(1000);
+}
+
+// velocity set point variable
+float target_velocity = 0;
+
+void loop() {
+  // main FOC algorithm function
+  // the faster you run this function the better
+  // Arduino UNO loop  ~1kHz
+  // Bluepill loop ~10kHz 
+  motor.loopFOC();
+
+  // Motion control function
+  // velocity, position or voltage (defined in motor.controller)
+  // this function can be run at much lower frequency than loopFOC() function
+  // You can also use motor.move() and set the motor.target in the code
+  motor.move(target_velocity);
+
+  // function intended to be used with serial plotter to monitor motor variables
+  // significantly slowing the execution down!!!!
+  // motor.monitor();
+  
+  // user communication
+  serialReceiveUserCommand();
+}
+
+// utility function enabling serial communication with the user to set the target values
+// this function can be implemented in serialEvent function as well
+void serialReceiveUserCommand() {
+  
+  // a string to hold incoming data
+  static String received_chars;
+  
+  while (Serial.available()) {
+    // get the new byte:
+    char inChar = (char)Serial.read();
+    // add it to the string buffer:
+    received_chars += inChar;
+    // end of user input
+    if (inChar == '\n') {
+      
+      // change the motor target
+      target_velocity = received_chars.toFloat();
+      Serial.print("Target velocity: ");
+      Serial.println(target_velocity);
+      
+      // reset the command buffer 
+      received_chars = "";
+    }
+  }
+}
+