added monitoring control through commands + motion loop downsampling

Author: askuric

src/BLDCMotor.cpp

@@ -289,6 +289,9 @@ void BLDCMotor::loopFOC() {
 void BLDCMotor::move(float new_target) {
   // if disabled do nothing
   if(!enabled) return; 
+  // downsampling (optional)
+  if(motion_cnt++ < motion_downsample) return;
+  motion_cnt = 0;
   // set internal target variable
   if(_isset(new_target)) target = new_target;
   // get angular velocity

src/StepperMotor.cpp

@@ -178,6 +178,8 @@ void StepperMotor::loopFOC() {
 void StepperMotor::move(float new_target) {
   // if disabled do nothing
   if(!enabled) return; 
+  // downsampling (optional)
+  if(motion_cnt++ < motion_downsample) return;
   // set internal target variable
   if(_isset(new_target) ) target = new_target;
   // get angular velocity

src/common/base_classes/CommunicationNode.h

@@ -81,31 +81,46 @@ void FOCMotor::useMonitoring(Print &print){
 // utility function intended to be used with serial plotter to monitor motor variables
 // significantly slowing the execution down!!!!
 void FOCMotor::monitor() {
+  if( !monitor_downsample || monitor_cnt++ < monitor_downsample ) return;
+  monitor_cnt = 0;
   if(!monitor_port) return;
-  switch (controller) {
-    case MotionControlType::velocity_openloop:
-    case MotionControlType::velocity:
-      monitor_port->print(voltage.q);
-      monitor_port->print("\t");
-      monitor_port->print(shaft_velocity_sp);
-      monitor_port->print("\t");
-      monitor_port->println(shaft_velocity);
-      break;
-    case MotionControlType::angle_openloop:
-    case MotionControlType::angle:
-      monitor_port->print(voltage.q);
-      monitor_port->print("\t");
-      monitor_port->print(shaft_angle_sp);
-      monitor_port->print("\t");
-      monitor_port->println(shaft_angle);
-      break;
-    case MotionControlType::torque:
-      monitor_port->print(voltage.q);
-      monitor_port->print("\t");
-      monitor_port->print(shaft_angle);
-      monitor_port->print("\t");
-      monitor_port->println(shaft_velocity);
-      break;
+  bool printed = 0;
+
+  if(monitor_variables[0]){
+    monitor_port->print(target);
+    monitor_port->print("\t");
+    printed= true;
+  }
+  if(monitor_variables[1]) {
+    monitor_port->print(voltage.q);
+    monitor_port->print("\t");
+    printed= true;
+  }
+  if(monitor_variables[2]) {
+    monitor_port->print(voltage.d);
+    monitor_port->print("\t");
+    printed= true;
+  }
+  if(monitor_variables[3]) {
+    monitor_port->print(current.q*1000); // mAmps
+    monitor_port->print("\t");
+    printed= true;
   }
+  if(monitor_variables[4]) {
+    monitor_port->print(current.d*1000); // mAmps
+    monitor_port->print("\t");
+    printed= true;
+  }
+  if(monitor_variables[5]) {
+    monitor_port->print(shaft_velocity);
+    monitor_port->print("\t");
+    printed= true;
+  }
+  if(monitor_variables[6]) {
+    monitor_port->print(shaft_angle);
+    printed= true;
+  }
+  if(printed) monitor_port->println();
+  
 }
 

src/common/base_classes/FOCMotor.cpp

@@ -142,11 +142,11 @@ class FOCMotor
     float velocity_limit; //!< Velocity limitting variable - global limit
 
     // motor status vairables
-    int enabled = 0;//!< enabled or disabled motor flag
+    int8_t enabled = 0;//!< enabled or disabled motor flag
 
     // pwm modulation related variables
     FOCModulationType foc_modulation;//!<  parameter derterniming modulation algorithm
-    int modulation_centered = 1;//!< flag (1) centered modulation around driver limit /2  or  (0) pulled to 0
+    int8_t modulation_centered = 1;//!< flag (1) centered modulation around driver limit /2  or  (0) pulled to 0
 
 
     // configuration structures
@@ -162,6 +162,8 @@ class FOCMotor
     PIDController P_angle{DEF_P_ANGLE_P,0,0,1e10,DEF_VEL_LIM};	//!< parameter determining the position PID configuration 
     LowPassFilter LPF_velocity{DEF_VEL_FILTER_Tf};//!<  parameter determining the velocity Low pass filter configuration 
     LowPassFilter LPF_angle{0.0};//!<  parameter determining the angle low pass filter configuration 
+    unsigned int motion_downsample = 0; //!< parameter defining the ratio of downsampling for move commad
+    unsigned int motion_cnt = 0; //!< counting variable for downsampling for move commad
 
     // sensor related variabels
     float sensor_offset; //!< user defined sensor zero offset
@@ -181,6 +183,9 @@ class FOCMotor
      * significantly slowing the execution down!!!!
      */
     void monitor();
+    unsigned int monitor_cnt = 0 ;
+    unsigned int monitor_downsample = 1;
+    bool monitor_variables[7] = {0};
 
     /** 
       * Sensor link:

src/common/base_classes/FOCMotor.h

@@ -25,7 +25,7 @@
 #define DEF_PID_CURR_D 0.0 //!<  default PID controller D value
 #define DEF_PID_CURR_RAMP 1e11 //!< default PID controller voltage ramp value
 #define DEF_PID_CURR_LIMIT (DEF_POWER_SUPPLY) //!< default PID controller voltage limit
-#define DEF_CURR_FILTER_Tf 0.001 //!< default currnet filter time constant
+#define DEF_CURR_FILTER_Tf 0.002 //!< default currnet filter time constant
 #endif
 // default current limit values
 #define DEF_CURRENT_LIM 0.2 //!< 2Amps current limit by default