Merge branch 'dev' into samd21_dev

Author: runger1101001

.github/workflows/ccpp.yml

@@ -11,4 +11,4 @@ jobs:
       uses: ArminJo/[email protected]
       with:
         libraries:  PciManager 
-        examples-exclude: bluepill_position_control, esp32_position_control, esp32_i2c_dual_bus_example, stm32_i2c_dual_bus_example, magnetic_sensor_spi_alt_example, simplefoc_osc_esp32_3pwm
+        examples-exclude: bluepill_position_control, esp32_position_control, esp32_i2c_dual_bus_example, stm32_i2c_dual_bus_example, magnetic_sensor_spi_alt_example, osc_esp32_3pwm, osc_esp32_fullcontrol, nano33IoT_velocity_control

README.md

@@ -13,7 +13,8 @@ Therefore this is an attempt to:
   - <i>Support as many <b>motor + sensor + driver + mcu</b> combinations out there</i>
 - 🎯 Develop a modular FOC supporting BLDC driver boards:
    - *Low-power* gimbal driver (<5Amps) :  [*Arduino Simple**FOC**Shield*](https://docs.simplefoc.com/arduino_simplefoc_shield_showcase).
-   - ***NEW***: *Medium-power* BLDC driver (<50Amps): [*Arduino Simple**FOC**PowerShield*](https://github.com/simplefoc/Arduino-SimpleFOC-PowerShield).
+   - ***NEW*** 📢: *Medium-power* BLDC driver (<30Amps): [Arduino <span class="simple">Simple<b>FOC</b>PowerShield</span> ](https://github.com/simplefoc/Arduino-SimpleFOC-PowerShield).
+   - See also [@byDagor](https://github.com/byDagor)'s *fully-integrated* ESP32 based board: [Dagor Brushless Controller](https://github.com/byDagor/Dagor-Brushless-Controller)
 
 ##### <b> NEXT RELEASE 📢:</b> <i>Simple<b>FOC</b>library v2.1
 > #### Implemented features in dev branch
@@ -52,7 +53,7 @@ Therefore this is an attempt to:
 >   - `ControlType::voltage` does not exist any more now - `MotionControlType::torque`
 
 
-## Arduino *SimpleFOCShield* v2.0.2
+## Arduino *SimpleFOCShield* v2.0.3
 
 <p align="">
 <a href="https://youtu.be/G5pbo0C6ujE">
@@ -79,7 +80,7 @@ Therefore this is an attempt to:
 <p align=""><img src="https://simplefoc.com/assets/img/v2.jpg" height="180px">   <img src="https://simplefoc.com/assets/img/v1.jpg"  height="180px"> <img src="https://docs.simplefoc.com/extras/Images/simple_foc_shield_v13_small.gif"  height="180x"></p>
 
 
-## Arduino *SimpleFOClibrary* v2.0.2
+## Arduino *SimpleFOClibrary* v2.1
 
 <p align="">
 <a href="https://youtu.be/Y5kLeqTc6Zk">

examples/hardware_specific_examples/Bluepill_examples/encoder/bluepill_position_control/bluepill_position_control.ino

@@ -28,7 +28,7 @@ void doI(){encoder.handleIndex();}
 float target_angle = 0;
 // instantiate the commander
 Commander command = Commander(Serial);
-void doTarget(char* cmd) { command.variable(&target_angle, cmd); }
+void doTarget(char* cmd) { command.scalar(&target_angle, cmd); }
 
 
 void setup() {

examples/hardware_specific_examples/Bluepill_examples/magnetic_sensor/bluepill_position_control/bluepill_position_control.ino

@@ -31,7 +31,7 @@ BLDCDriver3PWM driver = BLDCDriver3PWM(PB6, PB7, PB8, PB5);
 float target_angle = 0;
 // instantiate the commander
 Commander command = Commander(Serial);
-void doTarget(char* cmd) { command.variable(&target_angle, cmd); }
+void doTarget(char* cmd) { command.scalar(&target_angle, cmd); }
 
 
 void setup() {

examples/hardware_specific_examples/ESP32/encoder/esp32_position_control/esp32_position_control.ino

@@ -20,7 +20,7 @@ void doB(){encoder.handleB();}
 float target_angle = 0;
 // instantiate the commander
 Commander command = Commander(Serial);
-void doTarget(char* cmd) { command.variable(&target_angle, cmd); }
+void doTarget(char* cmd) { command.scalar(&target_angle, cmd); }
 
 void setup() {
 

examples/hardware_specific_examples/ESP32/magnetic_sensor/esp32_position_control/esp32_position_control.ino

@@ -29,7 +29,7 @@ BLDCDriver3PWM driver = BLDCDriver3PWM(25, 26, 27, 7);
 float target_angle = 0;
 // instantiate the commander
 Commander command = Commander(Serial);
-void doTarget(char* cmd) { command.variable(&target_angle, cmd); }
+void doTarget(char* cmd) { command.scalar(&target_angle, cmd); }
 
 void setup() {
 

examples/hardware_specific_examples/HMBGC_example/position_control/position_control.ino

@@ -38,7 +38,7 @@ PciListenerImp listenerB(encoder.pinB, doB);
 float target_angle = 0;
 // instantiate the commander
 Commander command = Commander(Serial);
-void doTarget(char* cmd) { command.variable(&target_angle, cmd); }
+void doTarget(char* cmd) { command.scalar(&target_angle, cmd); }
 
 void setup() {
 

examples/hardware_specific_examples/HMBGC_example/voltage_control/voltage_control.ino

@@ -44,7 +44,7 @@ PciListenerImp listenerB(encoder.pinB, doB);
 float target_voltage = 2;
 // instantiate the commander
 Commander command = Commander(Serial);
-void doTarget(char* cmd) { command.variable(&target_voltage, cmd); }
+void doTarget(char* cmd) { command.scalar(&target_voltage, cmd); }
 
 void setup() { 
 

examples/hardware_specific_examples/SAMD_examples/magnetic_sensor/nano33IoT_velocity_control.ino renamed to examples/hardware_specific_examples/SAMD_examples/nano33IoT/nano33IoT_velocity_control/nano33IoT_velocity_control.ino

@@ -20,7 +20,7 @@ BLDCDriver3PWM driver =  BLDCDriver3PWM(6,5,8);
 float target_velocity = 2.0;
 // instantiate the commander
 Commander command = Commander(SerialUSB);
-void doTarget(char* cmd) { command.variable(&target_velocity, cmd); }
+void doTarget(char* cmd) { command.scalar(&target_velocity, cmd); }
 
 
 void setup() {

examples/hardware_specific_examples/SimpleFOCShield/version_v1/single_full_control_example/single_full_control_example.ino

@@ -53,6 +53,8 @@ void setup() {
   Serial.begin(115200);
   // comment out if not needed
   motor.useMonitoring(Serial);
+  motor.monitor_downsample = 0; // disable intially
+  motor.monitor_variables = _MON_TARGET | _MON_VEL | _MON_ANGLE; // monitor target velocity and angle
 
   // initialise motor
   motor.init();