FIX updated examples to use open loop control and updated readme

askuric · askuric · commit 7220a7eea6be · 2020-10-04T04:49:40.000+02:00
diff --git a/README.md b/README.md
@@ -11,11 +11,18 @@ Therefore this is an attempt to:
 - Develop a modular BLDC driver board: [Arduino *SimpleFOCShield*](https://docs.simplefoc.com/arduino_simplefoc_shield_showcase).
 
 
-> **DEV Features**<br>
+> ***SimpleFOClibrary* v1.6.0📢**<br>
 > - Teensy support by Christopher Parrott <br>
 > - Pull requests by [@cousinitt](https://github.com/cousinitt) - refactoring and c++11 improvements
-
-<blockquote class="info"><p class="heading"><b>NEWS</b> 📢</p>New version of the Arduino <span class="simple">Simple<span class="foc">FOC</span>library</span> is out! (<a href="https://github.com/askuric/Arduino-FOC/releases">version 1.5.0 <i class="fa fa-tag"></i></a>) <br> <b>New features</b>:<ul><li> Open-loop motor control</li><li> Support Hall sensors</li><li> Support for Analog interface Magnetic sensor</li><li> New alignment procedure <br>- automatic sensor direction detection<br> - possibility to avoid alignment completely</li><li> PI controller updated to PID controller</li><li>...</li></ul>Big thanks to <a href="https://github.com/owennewo">@owennewo</a> for awesome suggestions and pull-requests!</blockquote>
+> - Extended configurability of the sensor classes [@owennewo](https://github.com/owennewo)
+> - **Stepper motor FOC support 🎨🎉 🎊**
+>   - Very easy to use and results are great, I love it!
+> - Huge refactoring done in the library 😄
+> 
+>
+> ***The release is practically complete and the new library release will be created as soon as the docs are updated!📚***
+
+<blockquote class="info"><p class="heading"><b>OLD NEWS (01.09.2020)</b></p>New version of the Arduino <span class="simple">Simple<span class="foc">FOC</span>library</span> is out! (<a href="https://github.com/askuric/Arduino-FOC/releases">version 1.5.0 <i class="fa fa-tag"></i></a>) <br> <b>New features</b>:<ul><li> Open-loop motor control</li><li> Support Hall sensors</li><li> Support for Analog interface Magnetic sensor</li><li> New alignment procedure <br>- automatic sensor direction detection<br> - possibility to avoid alignment completely</li><li> PI controller updated to PID controller</li><li>...</li></ul>Big thanks to <a href="https://github.com/owennewo">@owennewo</a> for awesome suggestions and pull-requests!</blockquote>
 
 
 
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
@@ -2,7 +2,10 @@
  #include <SimpleFOC.h>
 
 // motor instance
-BLDCMotor motor = BLDCMotor(3, 10, 6, 11, 7);
+//  BLDCMotor( phA, phB, phC, pp, (en optional))
+BLDCMotor motor = BLDCMotor(9, 5, 6, 1, 8);
+//  StepperMotor(ph1A,ph1B,ph2A,ph2B,pp,( en1, en2 optional))
+//StepperMotor motor = StepperMotor(9, 5, 10, 6, 50, 8);
 
 void setup() {
   
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
@@ -2,7 +2,11 @@
  #include <SimpleFOC.h>
 
 // motor instance
+//  BLDCMotor( phA, phB, phC, pp, (en optional))
 BLDCMotor motor = BLDCMotor(3, 10, 6, 11, 7);
+//  StepperMotor(ph1A,ph1B,ph2A,ph2B,pp,( en1, en2 optional))
+//StepperMotor motor = StepperMotor(9, 5, 10, 6, 50, 8);
+
 
 void setup() {
   
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
@@ -28,8 +28,10 @@
 #include <PciManager.h>
 #include <PciListenerImp.h>
 
-// motor instance
-BLDCMotor motor = BLDCMotor(9, 10, 11, 11, 8);
+// BLDC motor instance
+BLDCMotor motor = BLDCMotor(9, 5, 6, 11, 8);
+// Stepper motor instance
+//StepperMotor motor = StepperMotor(9, 5, 10, 6, 50, 8);
 
 // encoder instance
 Encoder encoder = Encoder(2, 3, 8192, A0);
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
@@ -16,8 +16,10 @@ MagneticSensorSPI sensor = MagneticSensorSPI(10, 14, 0x3FFF);
 // magnetic sensor instance - analog output
 // MagneticSensorAnalog sensor = MagneticSensorAnalog(A1, 14, 1020);
 
-// Motor instance
+// BLDC motor instance
 BLDCMotor motor = BLDCMotor(9, 5, 6, 11, 8);
+// Stepper motor instance
+//StepperMotor motor = StepperMotor(9, 5, 10, 6, 50, 8);
 
 void setup() {
 
diff --git a/examples/motion_control/torque_voltage_control/encoder/voltage_control/voltage_control.ino b/examples/motion_control/torque_voltage_control/encoder/voltage_control/voltage_control.ino
@@ -9,8 +9,10 @@
  */
 #include <SimpleFOC.h>
 
-// motor instance
+// BLDC motor instance
 BLDCMotor motor = BLDCMotor(9, 10, 11, 11, 7);
+// Stepper motor instance
+//StepperMotor motor = StepperMotor(9, 5, 10, 6, 50, 8);
 
 // encoder instance
 Encoder encoder = Encoder(2, 3, 8192);
diff --git a/examples/motion_control/torque_voltage_control/magnetic_sensor/voltage_control/voltage_control.ino b/examples/motion_control/torque_voltage_control/magnetic_sensor/voltage_control/voltage_control.ino
@@ -15,8 +15,10 @@ MagneticSensorSPI sensor = MagneticSensorSPI(10, 14, 0x3FFF);
 // magnetic sensor instance - analog output
 // MagneticSensorAnalog sensor = MagneticSensorAnalog(A1, 14, 1020);
 
-// Motor instance
+// BDLC Motor instance
 BLDCMotor motor = BLDCMotor(9, 5, 6, 11, 8);
+// Stepper motor instance
+//StepperMotor motor = StepperMotor(9, 5, 10, 6, 50, 8);
 
 void setup() {
 
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
@@ -29,8 +29,10 @@
 #include <PciManager.h>
 #include <PciListenerImp.h>
 
-// motor instance
+// BLDC motor instance
 BLDCMotor motor = BLDCMotor(9, 10, 11, 11, 8);
+// Stepper motor instance
+//StepperMotor motor = StepperMotor(9, 5, 10, 6, 50, 8);
 
 // encoder instance
 Encoder encoder = Encoder(2, 3, 8192, A0);
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
@@ -19,8 +19,10 @@ MagneticSensorSPI sensor = MagneticSensorSPI(10, 14, 0x3FFF);
 // magnetic sensor instance - analog output
 // MagneticSensorAnalog sensor = MagneticSensorAnalog(A1, 14, 1020);
 
-// Motor instance
+// BLDC motor instance
 BLDCMotor motor = BLDCMotor(9, 5, 6, 11, 8);
+// Stepper motor instance
+//StepperMotor motor = StepperMotor(9, 5, 10, 6, 50, 8);
 
 void setup() {
  
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
@@ -38,8 +38,10 @@
  */
 #include <SimpleFOC.h>
 
-// motor instance
-BLDCMotor motor = BLDCMotor(9, 10, 11, 11, 7);
+// BLDC motor instance
+BLDCMotor motor = BLDCMotor(9, 5, 6, 11, 8);
+// Stepper motor instance
+//StepperMotor motor = StepperMotor(9, 5, 10, 6, 50, 8);
 
 // encoder instance
 Encoder encoder = Encoder(2, 3, 8192);
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
@@ -39,14 +39,16 @@
 #include <SimpleFOC.h>
 
 // SPI magnetic sensor instance
-MagneticSensorSPI sensor = MagneticSensorSPI(10, 14, 0x3FFF);
+// MagneticSensorSPI sensor = MagneticSensorSPI(10, 14, 0x3FFF);
 // I2C magnetic sensor instance
-//MagneticSensorI2C sensor = MagneticSensorI2C(0x36, 12, 0x0E, 4);
+MagneticSensorI2C sensor = MagneticSensorI2C(0x36, 12, 0x0E, 4);
 // magnetic sensor instance - analog output
 // MagneticSensorAnalog sensor = MagneticSensorAnalog(A1, 14, 1020);
 
-// motor instance
+// BLDC motor instance
 BLDCMotor motor = BLDCMotor(9, 5, 6, 11, 8);
+// Stepper motor instance
+//StepperMotor motor = StepperMotor(9, 5, 10, 6, 50, 8);
 
 void setup() {
 
diff --git a/examples/utils/alignment_and_cogging_test/alignment_and_cogging_test.ino b/examples/utils/alignment_and_cogging_test/alignment_and_cogging_test.ino
@@ -2,6 +2,7 @@
 #include <SimpleFOC.h>
 
 BLDCMotor motor = BLDCMotor(9, 10, 11, 7);
+//StepperMotor motor = StepperMotor(9, 5, 10, 6, 50, 8);
 MagneticSensorI2C sensor = MagneticSensorI2C(0x36, 12, 0x0E, 4);
 
 
@@ -15,8 +16,7 @@ MagneticSensorI2C sensor = MagneticSensorI2C(0x36, 12, 0x0E, 4);
  */
 void testAlignmentAndCogging(int direction) {
 
-  motor.setPhaseVoltage(motor.voltage_sensor_align, 0);
-  
+  motor.move(0);
   _delay(200);
 
   float initialAngle = sensor.getAngle();
@@ -34,7 +34,7 @@ void testAlignmentAndCogging(int direction) {
 
     float electricAngle = (float) direction * i * motor.pole_pairs * shaft_rotation / sample_count;
     // move and wait
-    motor.setPhaseVoltage(motor.voltage_sensor_align, electricAngle * PI / 180);
+    motor.move(electricAngle * PI / 180);
     _delay(5);
 
     // measure 
@@ -81,7 +81,9 @@ void setup() {
   motor.voltage_power_supply = 9;
   motor.voltage_sensor_align = 3;
   motor.foc_modulation = FOCModulationType::SpaceVectorPWM;
-  motor.controller = ControlType::velocity;
+ 
+  motor.controller = ControlType::angle_openloop;
+  motor.voltage_limit=motor.voltage_sensor_align;
 
   sensor.init();
   motor.linkSensor(&sensor);
@@ -92,15 +94,16 @@ void setup() {
 
   testAlignmentAndCogging(1);
 
-  motor.setPhaseVoltage(0, 0);
+  motor.move(0);
   Serial.println("Press any key to test in CCW direction");
   while (!Serial.available()) { }
 
   testAlignmentAndCogging(-1);
 
   Serial.println("Complete");
 
-  motor.setPhaseVoltage(0, 0);
+  motor.voltage_limit = 0;
+  motor.move(0);
   while (true) ; //do nothing;
 
 }
diff --git a/examples/utils/find_pole_pair_number/encoder/find_pole_pairs_number/find_pole_pairs_number.ino b/examples/utils/find_pole_pair_number/encoder/find_pole_pairs_number/find_pole_pairs_number.ino
@@ -15,11 +15,14 @@
  */
 #include <SimpleFOC.h>
 
-//  BLDCMotor( int phA, int phB, int phC, int pp, int en)
-// its not important how many pole pairs do you set, the progam will find it by itself
-BLDCMotor motor = BLDCMotor(9, 10, 11, 0, 8);
+//  BLDCMotor( phA, phB, phC, pp, (en optional))
+// its important to put pole pairs number as 1!!!
+BLDCMotor motor = BLDCMotor(9, 5, 6, 1, 8);
+//  StepperMotor(ph1A,ph1B,ph2A,ph2B,pp,( en1, en2 optional))
+//StepperMotor motor = StepperMotor(9, 5, 10, 6, 1, 8);
+
 //  Encoder(int encA, int encB , int cpr, int index)
-Encoder encoder = Encoder(2, 3, 8192);
+Encoder encoder = Encoder(2, 3, 2048);
 // interrupt routine intialisation
 void doA(){encoder.handleA();}
 void doB(){encoder.handleB();}
@@ -36,9 +39,6 @@ void setup() {
   // power supply voltage
   motor.voltage_power_supply = 12;
 
-  // set FOC loop to be used
-  motor.controller = ControlType::voltage;
-
   // initialize motor
   motor.init();
 
@@ -54,7 +54,9 @@ void setup() {
   float pp_search_angle = 6*M_PI; // search electrical angle to turn
   
   // move motor to the electrical angle 0
-  motor.setPhaseVoltage(pp_search_voltage,0);
+  motor.controller = ControlType::angle_openloop;
+  motor.voltage_limit=pp_search_voltage;
+  motor.move(0);
   _delay(1000);
   // read the encoder angle 
   float angle_begin = encoder.getAngle();
@@ -64,14 +66,14 @@ void setup() {
   float motor_angle = 0;
   while(motor_angle <= pp_search_angle){
     motor_angle += 0.01;
-    motor.setPhaseVoltage(pp_search_voltage, motor_angle);
+    motor.move(motor_angle);
   }
   _delay(1000);
   // read the encoder value for 180
   float angle_end = encoder.getAngle();
   _delay(50);
   // turn off the motor
-  motor.setPhaseVoltage(0,0);
+  motor.move(0);
   _delay(1000);
 
   // calculate the pole pair number
@@ -102,6 +104,8 @@ void setup() {
   }
 
   
+  // set FOC loop to be used
+  motor.controller = ControlType::voltage;
   // set the pole pair number to the motor
   motor.pole_pairs = pp;
   //align encoder and start FOC
diff --git a/examples/utils/find_pole_pair_number/magnetic_sensor/find_pole_pairs_number/find_pole_pairs_number.ino b/examples/utils/find_pole_pair_number/magnetic_sensor/find_pole_pairs_number/find_pole_pairs_number.ino
@@ -15,9 +15,11 @@
  */
 #include <SimpleFOC.h>
 
-// Motor instance
-// its not important how many pole pairs do you set, the progam will find it alone
-BLDCMotor motor = BLDCMotor(9, 5, 6, 0, 8);
+//  BLDCMotor( phA, phB, phC, pp, (en optional))
+// its important to put pole pairs number as 1!!!
+BLDCMotor motor = BLDCMotor(9, 5, 6, 1, 8);
+//  StepperMotor(ph1A,ph1B,ph2A,ph2B,pp,( en1, en2 optional))
+//StepperMotor motor = StepperMotor(9, 5, 10, 6, 1, 8);
 
 // magnetic sensor instance - SPI
 MagneticSensorSPI sensor = MagneticSensorSPI(10, 14, 0x3FFF);
@@ -35,8 +37,6 @@ void setup() {
 
   // power supply voltage
   motor.voltage_power_supply = 12;
-  // set motion control loop to be used
-  motor.controller = ControlType::voltage;
 
   // initialize motor hardware
   motor.init();
@@ -52,7 +52,9 @@ void setup() {
   float pp_search_angle = 6*M_PI; // search electrical angle to turn
   
   // move motor to the electrical angle 0
-  motor.setPhaseVoltage(pp_search_voltage, 0);
+  motor.controller = ControlType::angle_openloop;
+  motor.voltage_limit=pp_search_voltage;
+  motor.move(0);
   _delay(1000);
   // read the sensor angle 
   float angle_begin = sensor.getAngle();
@@ -63,14 +65,14 @@ void setup() {
   while(motor_angle <= pp_search_angle){
     motor_angle += 0.01;
     sensor.getAngle(); // keep track of the overflow
-    motor.setPhaseVoltage(pp_search_voltage, motor_angle);
+    motor.move(motor_angle);
   }
   _delay(1000);
   // read the sensor value for 180
   float angle_end = sensor.getAngle();
   _delay(50);
   // turn off the motor
-  motor.setPhaseVoltage(0,0);
+  motor.move(0);
   _delay(1000);
 
   // calculate the pole pair number
@@ -101,6 +103,8 @@ void setup() {
   }
 
   
+  // set motion control loop to be used
+  motor.controller = ControlType::voltage;
   // set the pole pair number to the motor
   motor.pole_pairs = pp;
   //align sensor and start FOC
diff --git a/examples/utils/find_sensor_offset_and_direction/find_sensor_offset_and_direction.ino b/examples/utils/find_sensor_offset_and_direction/find_sensor_offset_and_direction.ino
@@ -19,8 +19,10 @@
 // magnetic sensor instance - analog output
 MagneticSensorAnalog sensor = MagneticSensorAnalog(A1, 14, 1020);
 
-// Motor instance
-BLDCMotor motor = BLDCMotor(3, 10, 6, 11, 7);
+// BLDC motor instance
+BLDCMotor motor = BLDCMotor(9, 5, 6, 11, 8);
+// Stepper motor instance
+//StepperMotor motor = StepperMotor(9, 5, 10, 6, 50, 8);
 
 void setup() {
 
diff --git a/src/BLDCMotor.h b/src/BLDCMotor.h
@@ -31,24 +31,24 @@ class BLDCMotor: public FOCMotor
     BLDCMotor(int phA,int phB,int phC,int pp, int en = NOT_SET);
     
     /**  Motor hardware init function */
-  	void init();
+  	void init() override;
     /** Motor disable function */
-  	void disable();
+  	void disable() override;
     /** Motor enable function */
-    void enable();
+    void enable() override;
 
     /**
      * Function initializing FOC algorithm
      * and aligning sensor's and motors' zero position 
      */  
-    int initFOC( float zero_electric_offset = NOT_SET , Direction sensor_direction = Direction::CW); 
+    int initFOC( float zero_electric_offset = NOT_SET , Direction sensor_direction = Direction::CW) override;
     /**
      * Function running FOC algorithm in real-time
      * it calculates the gets motor angle and sets the appropriate voltages 
      * to the phase pwm signals
      * - the faster you can run it the better Arduino UNO ~1ms, Bluepill ~ 100us
      */ 
-    void loopFOC();
+    void loopFOC() override;
 
     /**
      * Function executing the control loops set by the controller parameter of the BLDCMotor.
@@ -58,7 +58,7 @@ class BLDCMotor: public FOCMotor
      * 
      * This function doesn't need to be run upon each loop execution - depends of the use case
      */
-    void move(float target = NOT_SET);
+    void move(float target = NOT_SET) override;
 
     // hardware variables
   	int pwmA; //!< phase A pwm pin number
diff --git a/src/StepperMotor.h b/src/StepperMotor.h
