FEAT added open loop example, added finding zero offset and bugfix in motion control example

Author: askuric

examples/motion_control/torque_voltage_control/encoder/voltage_control/voltage_control.ino

@@ -40,10 +40,6 @@ void setup() {
   // set motion control loop to be used
   motor.controller = ControlType::voltage;
 
-  // use monitoring with serial for motor init
-  // comment out if not needed
-  motor.useMonitoring(Serial);
-
   // use monitoring with serial 
   Serial.begin(115200);
   // comment out if not needed

examples/motion_control/torque_voltage_control/hall_sensor/voltage_control/voltage_control.ino

@@ -41,10 +41,6 @@ void setup() {
   // set motion control loop to be used
   motor.controller = ControlType::voltage;
 
-  // use monitoring with serial for motor init
-  // comment out if not needed
-  motor.useMonitoring(Serial);
-
   // use monitoring with serial 
   Serial.begin(115200);
   // comment out if not needed

examples/motion_control/torque_voltage_control/magnetic_sensor/voltage_control/voltage_control.ino

@@ -37,10 +37,6 @@ void setup() {
   // set motion control loop to be used
   motor.controller = ControlType::voltage;
 
-  // use monitoring with serial for motor init
-  // comment out if not needed
-  motor.useMonitoring(Serial);
-
   // use monitoring with serial 
   Serial.begin(115200);
   // comment out if not needed

examples/utils/find_sensor_offset_and_direction/find_sensor_offset_and_direction.ino

@@ -0,0 +1,68 @@
+/**
+ * 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);
+ * 
+ * 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. 
+ * library version 1.4.2.
+ * 
+ */
+#include <SimpleFOC.h>
+
+// magnetic sensor instance - SPI
+//MagneticSensorSPI sensor = MagneticSensorSPI(10, 14, 0x3FFF);
+// magnetic sensor instance - I2C
+//MagneticSensorI2C sensor = MagneticSensorI2C(0x36, 12, 0x0E, 4);
+// magnetic sensor instance - analog output
+MagneticSensorAnalog sensor = MagneticSensorAnalog(A1, 14, 1020);
+
+// Motor instance
+BLDCMotor motor = BLDCMotor(3, 10, 6, 11, 7);
+
+void setup() {
+
+  // initialise magnetic sensor hardware
+  sensor.init();
+  // link the motor to the sensor
+  motor.linkSensor(&sensor);
+
+  // power supply voltage
+  // default 12V
+  motor.voltage_power_supply = 12;
+  // aligning voltage 
+  motor.voltage_sensor_align = 7;
+  
+  // set motion control loop to be used
+  motor.controller = ControlType::voltage;
+
+  // initialize motor
+  motor.init();
+  
+  // align sensor and start FOC
+  motor.initFOC();
+
+  
+  Serial.begin(115200);
+  Serial.println("Sensor zero offset is:");
+  Serial.println(motor.zero_electric_angle, 4);
+  Serial.println("Sensor natural direction is: ");
+  Serial.println(sensor.natural_direction == 1 ? "Direction::CW" : "Direction::CCW");
+
+  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!!");
+}
+
+
+void loop() {
+    
+  // main FOC algorithm function
+  motor.loopFOC();
+
+  // Motion control function
+  motor.move(2);
+}
+

examples/utils/open_loop_motor_test/open_loop_motor_test.ino

@@ -0,0 +1,36 @@
+// Open loop motor control example 
+ #include <SimpleFOC.h>
+
+// motor instance
+BLDCMotor motor = BLDCMotor(3, 10, 6, 11, 7);
+
+void setup() {
+  
+  // power supply voltage
+  // default 12V
+  motor.voltage_power_supply = 12;
+  
+  // choose FOC modulation (optional)
+  motor.foc_modulation = FOCModulationType::SpaceVectorPWM;
+
+  // init motor hardware
+  motor.init();
+
+  Serial.begin(115200);
+  Serial.println("Motor ready!");
+  _delay(1000);
+}
+
+// target voltage to be set to the motor
+float target_voltage = 2;
+// target voltage to be set to the motor
+float target_angle = 0;
+
+void loop() {
+  // integrating the angle in real time
+  // the larger the constant added the faster the movement
+  target_angle += 0.001;
+  
+  // set open loop voltage
+  motor.setPhaseVoltage(target_voltage, target_angle);
+}