FEAT new communication protocol

Author: askuric

README.md

@@ -38,6 +38,10 @@ Therefore this is an attempt to:
 >    - align sensor: direction + zero offset + pole pair check
 >    - align current sense
 > - sensor offset supported (`motor.sensor_offset`)
+> - **refactored motor commands interface**
+>   - much more flexible and easy to extend
+>   - very easy to add new commands and function callbacks
+>   - implemented motor+pid+lpf commands of-the-shelf
 >
 > BEWARE 📢 slight API changes included
 >   - `ControlType` renamed into `MotionControlType`

keywords.txt

@@ -18,6 +18,7 @@ PIDController	KEYWORD1
 LowPassFilter	KEYWORD1   
 InlineCurrentSense	KEYWORD1   
 CurrentSense	KEYWORD1   
+Commander	KEYWORD1   
 
 
 initFOC	KEYWORD2
@@ -44,6 +45,7 @@ LPF_velocity	KEYWORD2
 LPF_current_q	KEYWORD2
 LPF_current_d	KEYWORD2
 P_angle	KEYWORD2
+LPF_angle	KEYWORD2
 
 MotionControlType	KEYWORD1
 TorqueControlType	KEYWORD1
@@ -79,6 +81,8 @@ getCurrent	KEYWORD2
 setPwm	KEYWORD2
 driverAlign	KEYWORD2
 driverSync	KEYWORD2
+add	KEYWORD2
+run	KEYWORD2
 
 
 current	KEYWORD2

src/BLDCMotor.h

@@ -5,7 +5,6 @@
 #include "common/base_classes/FOCMotor.h"
 #include "common/base_classes/Sensor.h"
 #include "common/base_classes/BLDCDriver.h"
-#include "common/base_classes/CommunicationNode.h"
 #include "common/foc_utils.h"
 #include "common/time_utils.h"
 #include "common/defaults.h"

src/SimpleFOC.h

@@ -108,6 +108,6 @@ void loop() {
 #include "drivers/StepperDriver4PWM.h"
 #include "drivers/StepperDriver2PWM.h"
 #include "current_sense/InlineCurrentSense.h"
-#include "communication/Communicator.h"
+#include "communication/Commander.h"
 
 #endif

src/common/base_classes/FOCMotor.cpp

@@ -109,171 +109,3 @@ void FOCMotor::monitor() {
   }
 }
 
-String FOCMotor::communicate(String user_command) {
-  // error flag
-  String ret = "";
-  // if empty string
-  if(user_command.length() < 1) return ret;
-
-  // parse command letter
-  char cmd = user_command.charAt(0);
-  char sub_cmd = user_command.charAt(1);
-  int value_index = (sub_cmd >= 'A'  && sub_cmd <= 'Z') ?  2 :  1;
-  // check if get command
-  char GET = user_command.charAt(value_index) == '\n';
-  // parse command values
-  float  value  = user_command.substring(value_index).toFloat();
-
-  // a bit of optimisation of variable memory for Arduino UNO (atmega328)
-  switch(cmd){
-    case 'Q':      // 
-      ret = ret + F("PID curr q| ");
-      if(sub_cmd == 'F') ret = ret + LPF_current_q.communicate(user_command.substring(1));
-      else ret = ret + PID_current_q.communicate(user_command.substring(1));
-      break;
-    case 'D':      // 
-      ret = ret + F("PID curr d| ");
-      if(sub_cmd == 'F') ret = ret + LPF_current_d.communicate(user_command.substring(1));
-      else ret = ret + PID_current_d.communicate(user_command.substring(1));
-      break;
-    case 'V':      // 
-      ret = ret + F("PID vel| ");
-      if(sub_cmd == 'F') ret = ret + LPF_velocity.communicate(user_command.substring(1));
-      else ret = ret + PID_velocity.communicate(user_command.substring(1));
-      break;
-    case 'A':      // 
-      ret = ret + F("PID angle| ");
-      if(sub_cmd == 'F') ret = ret + LPF_angle.communicate(user_command.substring(1));
-      else ret = ret + P_angle.communicate(user_command.substring(1));
-      break;
-    case 'L':      // 
-      ret = ret + F("Limits| ");
-      switch (sub_cmd){
-        case 'U':      // voltage limit change
-          ret = ret + F("voltage: ");
-          if(!GET) {
-            voltage_limit = value;
-            PID_current_d.limit = value;
-            PID_current_q.limit = value;
-            // change velocity pid limit if in voltage mode and no phase resistance set
-            if( !_isset(phase_resistance) && torque_controller==TorqueControlType::voltage) PID_velocity.limit = value;
-          }
-          ret = ret + voltage_limit;
-          break;
-        case 'C':      // current limit
-          ret = ret + F("current: ");
-          if(!GET){
-            current_limit = value;
-            // if phase resistance is set, change the voltage limit as well.
-            if(_isset(phase_resistance)) voltage_limit = value*phase_resistance;
-            // if phase resistance specified or the current control is on set the current limit to the velocity PID
-            if(_isset(phase_resistance) ||  torque_controller != TorqueControlType::voltage ) PID_velocity.limit = value;
-          }
-          ret = ret + current_limit;
-          break;
-        case 'V':      // velocity limit
-          ret = ret + F("velocity: ");
-          if(!GET){
-            velocity_limit = value;
-            P_angle.limit = value;
-          }
-          ret = ret + velocity_limit;
-          break;
-        default:
-          ret = ret + F("error");
-          break;
-      }
-      break;
-    case 'C':
-      ret = ret + F("Control: ");
-      // change control type
-      if(!GET && value >= 0 && (int)value < 5)// if set command
-        controller = (MotionControlType)value;
-      switch(controller){
-        case MotionControlType::torque:
-          ret = ret + F("torque");
-          break;
-        case MotionControlType::velocity:
-          ret = ret + F("velocity");
-          break;
-        case MotionControlType::angle:
-          ret = ret + F("angle");
-          break;
-        case MotionControlType::velocity_openloop:
-          ret = ret + F("velocity openloop");
-          break;
-        case MotionControlType::angle_openloop:
-          ret = ret + F("angle openloop");
-          break;
-      }
-      break;
-    case 'T':
-      // change control type
-      ret = ret + F("Torque: ");
-      if(!GET && value >= 0 && (int)value < 3)// if set command
-        torque_controller = (TorqueControlType)value;
-      switch(torque_controller){
-        case TorqueControlType::voltage:
-          ret = ret + F("voltage");
-          break;
-        case TorqueControlType::current:
-          ret = ret + F("current");
-          break;
-        case TorqueControlType::foc_current:
-          ret = ret + F("foc current");
-          break;
-      }
-      break;
-    case 'E':
-      // enable/disable
-      ret = ret + F("Status: ");
-      if(!GET) (bool)value ? enable() : disable();
-      ret = ret + enabled;
-      break;
-    case 'S':
-      // Sensor zero offset
-      ret = ret + F("Sensor | ");
-       switch (sub_cmd){
-        case 'M':      // zero offset
-          ret = ret + F("offset: ");
-          if(!GET) sensor_offset = value;
-          ret = ret + sensor_offset;
-          break;
-        case 'E':      // electrical zero offset - not suggested to touch
-          ret = ret + F("el. offset: ");
-          if(!GET) zero_electric_angle = value;
-          ret = ret + zero_electric_angle;
-          break;
-        default:
-          ret = ret + F("error");
-          break;
-       }
-      break;
-    case 'M':     // get current values of the state variables
-        switch((int)value){
-          case 0: // get voltage
-            ret = ret + F("Uq: ");
-            ret = ret + voltage.q;
-            break;
-          case 1: // get velocity
-            ret = ret + F("Velocity: ");
-            ret = ret + shaft_velocity;
-            break;
-          case 2: // get angle
-            ret = ret + F("Angle: ");
-            ret = ret + shaft_angle;
-            break;
-          case 3: // get angle
-            ret = ret + F("Target: ");
-            ret = ret + target;
-            break;
-        }
-      break;
-    default:  // target change
-      ret = ret + F("Target: ");
-      target = user_command.toFloat();
-      ret = ret + target;
-  }
-
-  return ret;
-}

src/common/base_classes/FOCMotor.h

@@ -4,7 +4,6 @@
 #include "Arduino.h"
 #include "Sensor.h"
 #include "CurrentSense.h"
-#include "CommunicationNode.h"
 
 #include "../time_utils.h"
 #include "../foc_utils.h"
@@ -45,7 +44,7 @@ enum FOCModulationType{
 /**
  Generic motor class
 */
-class FOCMotor: public CommunicationNode
+class FOCMotor
 {
   public:
     /**
@@ -182,52 +181,7 @@ class FOCMotor: public CommunicationNode
      * significantly slowing the execution down!!!!
      */
     void monitor();
-
-     /**
-     * Function setting the configuration parameters  of the motor, target value of the control loop
-     * and outputing them to the monitoring port( if available ) :
-     * - configure PID controller constants
-     * - change motion control loops
-     * - monitor motor variabels
-     * - set target values
-     * - check all the configuration values 
-     * 
-     * To check the config value just enter the command letter.
-     * For example: 
-     * - to read velocity PI controller P gain run: P
-     * - to set velocity PI controller P gain  to 1.2 run: P1.2
-     * 
-     * To change the target value just enter a number in the terminal:
-     * For example: 
-     * - to change the target value to -0.1453 enter: -0.1453
-     * - to get the current target value enter: V3 
-     * 
-     * List of commands:
-     *  - P: velocity PI controller P gain
-     *  - I: velocity PI controller I gain
-     *  - L: velocity PI controller voltage limit
-     *  - R: velocity PI controller voltage ramp
-     *  - F: velocity Low pass filter time constant
-     *  - K: angle P controller P gain
-     *  - N: angle P controller velocity limit
-     *  - C: control loop 
-     *    - 0: voltage 
-     *    - 1: velocity 
-     *    - 2: angle
-     *  - V: get motor variables
-     *    - 0: currently set voltage
-     *    - 1: current velocity
-     *    - 2: current angle
-     *    - 3: current target value
-     *
-     * - Look into the documentation (docs.simplefoc.com) for more information.
-     * 
-     * @param command String containing the user command
-     * 
-     * returns 0 for error or 1 for executed command
-     */
-    String communicate(String command) override;
-    
+   
     /** 
       * Sensor link:
       * - Encoder 

src/common/lowpass_filter.cpp

@@ -23,22 +23,3 @@ float LowPassFilter::operator() (float x)
     timestamp_prev = timestamp;
     return y;
 }
-
-String LowPassFilter::communicate(String user_cmd){
-  String ret = "";
-  char cmd = user_cmd.charAt(0);
-  char GET  = user_cmd.charAt(1) == '\n';
-  float value = user_cmd.substring(1).toFloat();
-
-  switch (cmd){
-    case 'F':      // Tf value change
-      ret = ret + "Tf: ";
-      if(!GET) Tf = value;
-      ret = ret + Tf;
-      break;
-    default:
-      ret = ret + F("error");
-      break;
-  }
-  return ret; 
-}

src/common/lowpass_filter.h

@@ -4,12 +4,11 @@
 
 #include "time_utils.h"
 #include "foc_utils.h"
-#include "base_classes/CommunicationNode.h"
 
 /**
  *  Low pass filter class
  */
-class LowPassFilter: public CommunicationNode
+class LowPassFilter
 {
 public:
     /**
@@ -21,8 +20,6 @@ class LowPassFilter: public CommunicationNode
     float operator() (float x);
     float Tf; //!< Low pass filter time constant
 
-    String communicate(String user_command) override;
-
 protected:
     unsigned long timestamp_prev;  //!< Last execution timestamp
     float y_prev; //!< filtered value in previous execution step 

src/common/pid.cpp

@@ -55,42 +55,3 @@ float PIDController::operator() (float error){
     return output;
 }
 
-
-String PIDController::communicate(String user_cmd){
-  String ret = "";
-  char cmd = user_cmd.charAt(0);
-  char GET  = user_cmd.charAt(1) == '\n';
-  float value = user_cmd.substring(1).toFloat();
-
-  switch (cmd){
-    case 'P':      // P gain change
-      ret = ret + "P: ";
-      if(!GET) P = value;
-      ret = ret + P;
-      break;
-    case 'I':      // I gain change
-      ret = ret + "I: ";
-      if(!GET) I = value;
-      ret = ret + I;
-      break;
-    case 'D':      // D gain change
-      ret = ret + "D: ";
-      if(!GET) D = value;
-      ret = ret + D;
-      break;
-    case 'R':      //  ramp change
-      ret = ret + "ramp: ";
-      if(!GET) output_ramp = value;
-      ret = ret + output_ramp;
-      break;
-    case 'L':      //  limit change
-      ret = ret + "limit: ";
-      if(!GET) limit = value;
-      ret = ret + limit;
-      break;
-    default:
-      ret = ret + F("error");
-      break;
-  }
-  return ret; // not well handled
-}