FEAT library version 1.4.1 - support for ESP32 few bugfixes

Author: askuric

README.md

@@ -10,11 +10,11 @@ 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)
 - Develop a modular BLDC driver board: [Arduino *SimpleFOCShield*](https://docs.simplefoc.com/arduino_simplefoc_shield_showcase).
 
+> ***NEWS:*** 📢 Arduino *SimpleFOClibrary* now supports ESP32 boards! Check out the library [docs](https://docs.simplefoc.com/microcontrollers)  to see how to use them with your project. You can also find full configuration in the library examples. 
+
 > ***NEWS:*** 📢 Arduino *SimpleFOClibrary* now supports magnetic sensors using I2C communication! Check out the library [docs](https://docs.simplefoc.com/sensors)  to see how to use them with your project. You can also find full configuration in the library examples. <br>
 > ***BEWARE:*** 📢 The `MagneticSensor` class has been renamed and divided to `MagneticSensorSPI` and `MagneticSensorI2C` classes.
 
-> ***NEWS:*** 📢 Arduino *SimpleFOClibrary* now supports high performance DRV8302 driver boards (60V, 15A, 30$). [YouTube link](https://www.youtube.com/watch?v=RI4nNMF608I).
-> You can find the board by clicking on [Aliexpress link](https://bit.ly/2BZZ5fG) and the  Arduino code example in the examples folder!
 
 
 ## Arduino *SimpleFOCShield*

examples/hardware_specific_examples/ESP32/encoder/esp32_position_control/esp32_position_control.ino

@@ -0,0 +1,125 @@
+/**
+ * 
+ * STM32 Bluepill position motion control example with encoder
+ * 
+ * The same example can be ran with any STM32 board - just make sure that put right pin numbers.
+ * 
+ */
+#include <SimpleFOC.h>
+
+// motor instance
+BLDCMotor motor = BLDCMotor(25, 26, 27, 7);
+
+// encoder instance
+Encoder encoder = Encoder(4, 2, 1024);
+
+// Interrupt routine intialisation
+// channel A and B callbacks
+void doA(){encoder.handleA();}
+void doB(){encoder.handleB();}
+
+void setup() {
+  
+  // initialize encoder sensor hardware
+  encoder.init();
+  encoder.enableInterrupts(doA, doB); 
+
+  // link the motor to the sensor
+  motor.linkSensor(&encoder);
+
+  // 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::velocity;
+
+  // contoller configuration 
+  // default parameters in defaults.h
+
+  // velocity PI controller parameters
+  motor.PI_velocity.P = 0.2;
+  motor.PI_velocity.I = 20;
+  // 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 encoder 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/hardware_specific_examples/ESP32/magnetic_sensor/esp32_position_control/esp32_position_control.ino

@@ -0,0 +1,129 @@
+/**
+ * 
+ * STM32 Bluepill position motion control example with magnetic sensor
+ * 
+ * The same example can be ran with any STM32 board - just make sure that put right pin numbers.
+ * 
+ */
+#include <SimpleFOC.h>
+
+// SPI Magnetic sensor instance (AS5047U example)
+// MISO 12
+// MOSI 9
+// SCK 14
+MagneticSensorSPI sensor = MagneticSensorSPI(10, 14, 0x3FFF);
+
+// I2C Magnetic sensor instance (AS5600 example)
+// make sure to use the pull-ups!!
+// SDA 21
+// SCL 22
+//MagneticSensorI2C sensor = MagneticSensorI2C(0x36, 12, 0x0E, 4);
+
+// Motor instance
+BLDCMotor motor = BLDCMotor(25, 26, 27, 7);
+
+void setup() {
+
+  // initialise magnetic sensor hardware
+  sensor.init();
+  // link the motor to the sensor
+  motor.linkSensor(&sensor);
+
+  // power supply voltage
+  // default 12V
+  motor.voltage_power_supply = 12;
+  
+  // choose FOC modulation (optional)
+  motor.foc_modulation = FOCModulationType::SpaceVectorPWM;
+
+  // 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 = 20;
+  // maximal voltage to be set to the motor
+  motor.PI_velocity.voltage_limit = 6;
+  
+  // velocity low pass filtering time constant
+  // the lower the less filtered
+  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 = 40;
+
+  // 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/encoder/voltage_control/voltage_control.ino

@@ -31,6 +31,8 @@ void setup() {
   // power supply voltage
   // default 12V
   motor.voltage_power_supply = 12;
+  // aligning voltage
+  motor.voltage_sensor_align = 5;
 
   // choose FOC modulation (optional)
   motor.foc_modulation = FOCModulationType::SpaceVectorPWM;

examples/motion_control/torque_voltage_control/magnetic_sensor/voltage_control/voltage_control.ino

@@ -26,6 +26,8 @@ void setup() {
   // power supply voltage
   // default 12V
   motor.voltage_power_supply = 12;
+  // aligning voltage 
+  motor.voltage_sensor_align = 5;
 
   // choose FOC modulation (optional)
   motor.foc_modulation = FOCModulationType::SpaceVectorPWM;

keywords.txt

@@ -14,6 +14,8 @@ _micros	KEYWORD3
 _sin	KEYWORD3
 _cos	KEYWORD3
 _setPwmFrequency	KEYWORD3
+_writeDutyCycle	KEYWORD3
+_round	KEYWORD3
 monitor	KEYWORD3
 command	KEYWORD3
 
@@ -37,6 +39,8 @@ setPhaseVoltage	KEYWORD2
 getAngle	KEYWORD2
 initRelativeZero	KEYWORD2
 initAbsoluteZero	KEYWORD2
+hasAbsoluteZero	KEYWORD2
+needsAbsoluteZeroSearch	KEYWORD2
 useMonitoring	KEYWORD2
 
 voltage_q	KEYWORD2
@@ -52,8 +56,6 @@ foc_modulation	KEYWORD2
 target	KEYWORD2
 
 
-
-
 voltage	KEYWORD2
 velocity	KEYWORD2
 velocity_ultra_slow	KEYWORD2

library.properties

@@ -1,5 +1,5 @@
 name=Simple FOC
-version=1.4.0
+version=1.4.1
 author=Antun Skuric <[email protected]>
 maintainer=Antun Skuric <[email protected]>
 sentence=A library demistifying FOC for BLDC motors