Add characterisation example

Author: mcells

examples/utils/calibration/measure_inductance_and_resistance/measure_inductance_and_resistance.ino

@@ -0,0 +1,119 @@
+/**
+ *
+ * Motor characterisation example sketch.
+ *
+ */
+#include <SimpleFOC.h>
+
+
+// BLDC motor & driver instance
+BLDCMotor motor = BLDCMotor(11);
+BLDCDriver3PWM driver = BLDCDriver3PWM(9, 5, 6, 8);
+
+// encoder instance
+Encoder encoder = Encoder(2, 3, 500);
+// channel A and B callbacks
+void doA(){encoder.handleA();}
+void doB(){encoder.handleB();}
+
+// current sensor
+InlineCurrentSense current_sense = InlineCurrentSense(0.01f, 50.0f, A0, A2);
+
+// characterisation voltage set point variable
+float characteriseVolts = 0.0f;
+
+// instantiate the commander
+Commander command = Commander(Serial);
+void onMotor(char* cmd){command.motor(&motor,cmd);}
+void characterise(char* cmd) { 
+  command.scalar(&characteriseVolts, cmd); 
+  motor.characteriseMotor(characteriseVolts);
+}
+
+void setup() {
+
+  // use monitoring with serial 
+  Serial.begin(115200);
+  // enable more verbose output for debugging
+  // comment out if not needed
+  SimpleFOCDebug::enable(&Serial);
+  
+  // initialize encoder sensor hardware
+  encoder.init();
+  encoder.enableInterrupts(doA, doB);
+  // link the motor to the sensor
+  motor.linkSensor(&encoder);
+
+  // driver config
+  // power supply voltage [V]
+  driver.voltage_power_supply = 12;
+  driver.init();
+  // link driver
+  motor.linkDriver(&driver);
+  // link current sense and the driver
+  current_sense.linkDriver(&driver);
+
+  // current sense init hardware
+  current_sense.init();
+  // link the current sense to the motor
+  motor.linkCurrentSense(&current_sense);
+
+  // set torque mode:
+  // TorqueControlType::dc_current
+  // TorqueControlType::voltage
+  // TorqueControlType::foc_current
+  motor.torque_controller = TorqueControlType::foc_current;
+  // set motion control loop to be used
+  motor.controller = MotionControlType::torque;
+
+  // foc current control parameters (Arduino UNO/Mega)
+  motor.PID_current_q.P = 5;
+  motor.PID_current_q.I= 300;
+  motor.PID_current_d.P= 5;
+  motor.PID_current_d.I = 300;
+  motor.LPF_current_q.Tf = 0.01f;
+  motor.LPF_current_d.Tf = 0.01f;
+  // foc current control parameters (stm/esp/due/teensy)
+  // motor.PID_current_q.P = 5;
+  // motor.PID_current_q.I= 1000;
+  // motor.PID_current_d.P= 5;
+  // motor.PID_current_d.I = 1000;
+  // motor.LPF_current_q.Tf = 0.002f; // 1ms default
+  // motor.LPF_current_d.Tf = 0.002f; // 1ms default
+
+  // comment out if not needed
+  motor.useMonitoring(Serial);
+
+  // initialize motor
+  motor.init();
+  // align sensor and start FOC
+  motor.initFOC();
+
+  // add commands M & L
+  command.add('M',&onMotor,"Control motor");
+  command.add('L', characterise, "Characterise motor L & R with the given voltage");
+
+  motor.disable();
+
+  Serial.println(F("Motor disabled and ready."));
+  Serial.println(F("Control the motor and measure the inductance using the terminal. Type \"?\" for available commands:"));
+  _delay(1000);
+}
+
+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 torque (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();
+
+  // user communication
+  command.run();
+}