Merge pull request #283 from runger1101001/dev

Change init logic - remove params from initFOC

Author: runger1101001

examples/utils/calibration/find_sensor_offset_and_direction/find_sensor_offset_and_direction.ino

@@ -2,8 +2,9 @@
  * Simple example intended to help users find the zero offset and natural direction of the sensor. 
  * 
  * These values can further be used to avoid motor and sensor alignment procedure. 
- * 
- * motor.initFOC(zero_offset, sensor_direction);
+ * To use these values add them to the code:");
+ *    motor.sensor_direction=Direction::CW; // or Direction::CCW
+ *    motor.zero_electric_angle=1.2345;     // use the real value!
  * 
  * This will only work for abosolute value sensors - magnetic sensors. 
  * Bypassing the alignment procedure is not possible for the encoders and for the current implementation of the Hall sensors. 
@@ -44,6 +45,9 @@ void setup() {
   // set motion control loop to be used
   motor.controller = MotionControlType::torque;
 
+  // force direction search - because default is CW
+  motor.sensor_direction = Direction::UNKNOWN;
+
   // initialize motor
   motor.init();
   // align sensor and start FOC
@@ -54,9 +58,16 @@ void setup() {
   Serial.println("Sensor zero offset is:");
   Serial.println(motor.zero_electric_angle, 4);
   Serial.println("Sensor natural direction is: ");
-  Serial.println(motor.sensor_direction == 1 ? "Direction::CW" : "Direction::CCW");
+  Serial.println(motor.sensor_direction == Direction::CW ? "Direction::CW" : "Direction::CCW");
+
+  Serial.println("To use these values add them to the code:");
+  Serial.print("   motor.sensor_direction=");
+  Serial.print(motor.sensor_direction == Direction::CW ? "Direction::CW" : "Direction::CCW");
+  Serial.println(";");
+  Serial.print("   motor.zero_electric_angle=");
+  Serial.print(motor.zero_electric_angle, 4);
+  Serial.println(";");
 
-  Serial.println("To use these values provide them to the: motor.initFOC(offset, direction)");
   _delay(1000);
   Serial.println("If motor is not moving the alignment procedure was not successfull!!");
 }

src/BLDCMotor.cpp

@@ -126,20 +126,13 @@ void BLDCMotor::enable()
   FOC functions
 */
 // FOC initialization function
-int  BLDCMotor::initFOC( float zero_electric_offset, Direction _sensor_direction) {
+int  BLDCMotor::initFOC() {
   int exit_flag = 1;
 
   motor_status = FOCMotorStatus::motor_calibrating;
 
   // align motor if necessary
   // alignment necessary for encoders!
-  if(_isset(zero_electric_offset)){
-    // abosolute zero offset provided - no need to align
-    zero_electric_angle = zero_electric_offset;
-    // set the sensor direction - default CW
-    sensor_direction = _sensor_direction;
-  }
-
   // sensor and motor alignment - can be skipped
   // by setting motor.sensor_direction and motor.zero_electric_angle
   _delay(500);
@@ -213,7 +206,7 @@ int BLDCMotor::alignSensor() {
   if(!exit_flag) return exit_flag;
 
   // if unknown natural direction
-  if(!_isset(sensor_direction)){
+  if(sensor_direction==Direction::UNKNOWN){
 
     // find natural direction
     // move one electrical revolution forward

src/BLDCMotor.h

@@ -49,7 +49,7 @@ class BLDCMotor: public FOCMotor
      * 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) override;
+    int initFOC() override;
     /**
      * Function running FOC algorithm in real-time
      * it calculates the gets motor angle and sets the appropriate voltages 

src/StepperMotor.cpp

@@ -92,20 +92,13 @@ void StepperMotor::enable()
   FOC functions
 */
 // FOC initialization function
-int  StepperMotor::initFOC( float zero_electric_offset, Direction _sensor_direction ) {
+int  StepperMotor::initFOC() {
   int exit_flag = 1;
 
   motor_status = FOCMotorStatus::motor_calibrating;
 
   // align motor if necessary
   // alignment necessary for encoders!
-  if(_isset(zero_electric_offset)){
-    // abosolute zero offset provided - no need to align
-    zero_electric_angle = zero_electric_offset;
-    // set the sensor direction - default CW
-    sensor_direction = _sensor_direction;
-  }
-
   // sensor and motor alignment - can be skipped
   // by setting motor.sensor_direction and motor.zero_electric_angle
   _delay(500);

src/StepperMotor.h

@@ -54,12 +54,8 @@ class StepperMotor: public FOCMotor
      * and aligning sensor's and motors' zero position 
      * 
      * - If zero_electric_offset parameter is set the alignment procedure is skipped
-     * 
-     * @param zero_electric_offset value of the sensors absolute position electrical offset in respect to motor's electrical 0 position.
-     * @param sensor_direction  sensor natural direction - default is CW
-     *
      */  
-    int initFOC( float zero_electric_offset = NOT_SET , Direction sensor_direction = Direction::CW) override;
+    int initFOC() override;
     /**
      * Function running FOC algorithm in real-time
      * it calculates the gets motor angle and sets the appropriate voltages 

src/common/base_classes/FOCMotor.h

@@ -104,12 +104,8 @@ class FOCMotor
      * and aligning sensor's and motors' zero position 
      * 
      * - If zero_electric_offset parameter is set the alignment procedure is skipped
-     * 
-     * @param zero_electric_offset value of the sensors absolute position electrical offset in respect to motor's electrical 0 position.
-     * @param sensor_direction  sensor natural direction - default is CW
-     *
      */  
-    virtual int initFOC( float zero_electric_offset = NOT_SET , Direction sensor_direction = Direction::CW)=0; 
+    virtual int initFOC()=0;
     /**
      * Function running FOC algorithm in real-time
      * it calculates the gets motor angle and sets the appropriate voltages 
@@ -209,7 +205,7 @@ class FOCMotor
     // sensor related variabels
     float sensor_offset; //!< user defined sensor zero offset
     float zero_electric_angle = NOT_SET;//!< absolute zero electric angle - if available
-    int sensor_direction = NOT_SET; //!< if sensor_direction == Direction::CCW then direction will be flipped to CW
+    Direction sensor_direction = Direction::CW; //!< default is CW. if sensor_direction == Direction::CCW then direction will be flipped compared to CW. Set to UNKNOWN to set by calibration
 
     /**
      * Function providing BLDCMotor class with the 

src/communication/Commander.cpp

@@ -593,6 +593,7 @@ bool Commander::isSentinel(char ch)
   else if (ch == '\r')
   {
       printVerbose(F("Warn: \\r detected! \n"));
+      return true; // lets still consider it to end the line...
   }
   return false;
 }