added change direction example

Author: askuric

examples/change_direction/velocity_control/change_direction.ino

@@ -0,0 +1,123 @@
+#include <ArduinoFOC.h>
+
+// Only pins 2 and 3 are supported
+#define arduinoInt1 2             // Arduino UNO interrupt 0
+#define arduinoInt2 3             // Arduino UNO interrupt 1
+
+//  BLDCMotor( int phA, int phB, int phC, int pp, int en)
+//  - phA, phB, phC - motor A,B,C phase pwm pins
+//  - pp            - pole pair number
+//  - enable pin    - (optional input)
+BLDCMotor motor = BLDCMotor(9, 10, 11, 11, 8);
+//  Encoder(int encA, int encB , int cpr, int index)
+//  - encA, encB    - encoder A and B pins
+//  - ppr           - impulses per rotation  (cpr=ppr*4)
+//  - index pin     - (optional input)
+Encoder encoder = Encoder(arduinoInt1, arduinoInt2, 8192, 4);
+// interrupt ruotine intialisation
+void doA(){encoder.handleA();}
+void doB(){encoder.handleB();}
+
+void setup() {
+  // debugging port
+  Serial.begin(115200);
+
+  // check if you need internal pullups
+  // Pullup::EXTERN - external pullup added - dafault
+  // Pullup::INTERN - needs internal arduino pullup
+  encoder.pullup = Pullup::EXTERN;
+  
+  // initialise encoder hardware
+  encoder.init(doA, doB);
+
+  // set driver type
+  //  DriverType::unipolar
+  //  DriverType::bipolar    - default
+  motor.driver = DriverType::bipolar;
+
+  // power supply voltage
+  // default 12V
+  motor.power_supply_voltage = 12;
+
+  // set FOC loop to be used
+  // ControlType::voltage
+  // ControlType::velocity
+  // ControlType::velocity_ultra_slow
+  // ControlType::angle
+  motor.controller = ControlType::velocity;
+
+  // velocity PI controller parameters
+  // default K=1.0 Ti = 0.003
+  motor.PI_velocity.K = 1;
+  motor.PI_velocity.Ti = 0.003;
+
+  // link the motor to the sensor
+  motor.linkEncoder(&encoder);
+  // intialise motor
+  motor.init();
+  // align encoder and start FOC
+  motor.initFOC();
+
+
+  Serial.println("Motor ready.");
+  delay(1000);
+}
+
+// target velocity variable
+float target_velocity = 3;
+int t = 0;
+
+void loop() {
+  // iterative state calculation calculating angle
+  // and setting FOC pahse voltage
+  // the faster you run this funciton the better
+  // in arduino loop it should have ~1kHz
+  // the best would be to be in ~10kHz range
+  motor.loopFOC();
+
+  // direction chnaging logic
+  // change direction each 1000 loop passes
+  target_velocity *= (t >= 1000) ? -1 : 1; 
+  // loop passes counter
+  t = (t > 1000) ? t+1 : 0;
+
+
+  // iterative function setting the outter loop target
+  // velocity, position or voltage
+  // this funciton can be run at much lower frequency than loopFOC funciton
+  // it can go as low as ~50Hz
+  motor.move(target_velocity);
+
+
+  // function intended to be used with serial plotter to monitor motor variables
+  // significantly slowing the execution down!!!!
+  motor_monitor();
+}
+
+// utility function intended to be used with serial plotter to monitor motor variables
+// significantly slowing the execution down!!!!
+void motor_monitor() {
+  switch (motor.controller) {
+    case ControlType::velocity_ultra_slow:
+    case ControlType::velocity:
+      Serial.print(motor.voltage_q);
+      Serial.print("\t");
+      Serial.print(motor.shaft_velocity_sp);
+      Serial.print("\t");
+      Serial.println(motor.shaft_velocity);
+      break;
+    case ControlType::angle:
+      Serial.print(motor.voltage_q);
+      Serial.print("\t");
+      Serial.print(motor.shaft_angle_sp);
+      Serial.print("\t");
+      Serial.println(motor.shaft_angle);
+      break;
+    case ControlType::voltage:
+      Serial.print(motor.voltage_q);
+      Serial.print("\t");
+      Serial.println(motor.shaft_velocity);
+      break;
+  }
+}
+