FEAT Library version 1.3.0

Author: askuric

README.md

@@ -7,35 +7,36 @@
 
 Proper low-cost and low-power FOC supporting boards are very hard to find these days and even may not exist. Even harder to find is a stable and simple FOC algorithm code capable of running on Arduino devices. 
 Therefore this is an attempt to: 
-- Demystify FOC algorithm and make a robust but simple Arduino library: [Arduino SimpleFOC library](https://askuric.github.io/Arduino-FOC/arduino_simplefoc_library_showcase)
-- Develop a modular BLDC driver board: [Arduino SimpleFOC shield](https://askuric.github.io/Arduino-FOC/arduino_simplefoc_shield_showcase).
+- Demystify FOC algorithm and make a robust but simple Arduino library: [Arduino SimpleFOC library](https://docs.simplefoc.com/arduino_simplefoc_library_showcase)
+- Develop a modular BLDC driver board: [Arduino SimpleFOC shield](https://docs.simplefoc.com/arduino_simplefoc_shield_showcase).
 
 ## Arduino SimpleFOCShield
 
 <p align="">
 <a href="https://youtu.be/G5pbo0C6ujE">
-<img src="https://askuric.github.io/Arduino-FOC/extras/Images/foc_shield_video.jpg"  height="320px">
+<img src="https://docs.simplefoc.com/extras/Images/foc_shield_video.jpg"  height="320px">
 </a>
 </p>
 
 ### Features
 - **Plug & play**: In combination with Arduino <span class="simple">Simple<span class="foc">FOC</span>library</span> 
-- **Low-cost**: Price of €20 - [Check the pricing](https://askuric.github.io/simplefoc_shield_product) 
-- **Open Source**: Fully available fabrication files - [how to make it yourself](https://askuric.github.io/Arduino-FOC/arduino_simplefoc_shield_fabrication)
+- **Low-cost**: Price of €20 - [Check the pricing](https://www.simplefoc.com/simplefoc_shield_product) 
+- **Open Source**: Fully available fabrication files - [how to make it yourself](https://docs.simplefoc.com/arduino_simplefoc_shield_fabrication)
 - **Stackable**: running 2 motors in the same time
 - **Encoder interface**: Integrated 3kOhm pullups (configurable)
 - **Configurable pinout**: Hardware configuration - soldering connections
+- **Arduino headers**: Arduino UNO, Arduino MEGA, STM32 Nucleo boards...
 
-##### If you are interested in this board, preorder your version on this link: [Arduino Simple FOC Shield](https://askuric.github.io/simplefoc_shield_product)
+##### If you are interested in this board, order your version on this link: [Arduino Simple FOC Shield](https://www.simplefoc.com/simplefoc_shield_product)
 
-<p align=""><img src="https://askuric.github.io/Arduino-FOC/extras/Images/shield_to_v13.jpg" height="180px">   <img src="https://askuric.github.io/Arduino-FOC/extras/Images/shield_bo_v13.jpg"  height="180px"> <img src="https://askuric.github.io/Arduino-FOC/extras/Images/simple_foc_shield_v13_small.gif"  height="180x"></p>
+<p align=""><img src="https://docs.simplefoc.com/extras/Images/shield_to_v13.jpg" height="180px">   <img src="https://docs.simplefoc.com/extras/Images/shield_bo_v13.jpg"  height="180px"> <img src="https://docs.simplefoc.com/extras/Images/simple_foc_shield_v13_small.gif"  height="180x"></p>
 
 
 ## Arduino SimpleFOClibrary
 
 <p align="">
 <a href="https://youtu.be/Y5kLeqTc6Zk">
-<img src="https://askuric.github.io/Arduino-FOC/extras/Images/youtube.png"  height="320px">
+<img src="https://docs.simplefoc.com/extras/Images/youtube.png"  height="320px">
 </a>
 </p>
 
@@ -45,19 +46,23 @@ This video demonstrates the Simple FOC library basic usage, electronic connectio
 - **Arduino compatible**: Arduino library code
 - **Easy to setup and configure**: 
   - Easy hardware configuration
-  - Easy [tuning the control loops](https://askuric.github.io/Arduino-FOC/control_loops)
+  - Easy [tuning the control loops](https://docs.simplefoc.com/control_loops)
 - **Modular**:
-  - Supports as many [sensors ,  BLDC motors  and  driver boards](https://askuric.github.io/Arduino-FOC/supported_hardware) as possible
+  - Supports as many [sensors ,  BLDC motors  and  driver boards](https://docs.simplefoc.com/supported_hardware) as possible
   - Supports as many application requirements as possible
-- **Plug & play**: Arduino SimpleFOC shield
+  - Supports multiple [MCU architectures](https://docs.simplefoc.com/microcontrollers):
+     - Arduino: UNO, MEGA, any board with ATMega328 chips
+     - STM32 boards: [Nucleo](https://www.st.com/en/evaluation-tools/stm32-nucleo-boards.html) and [Bluepill](https://stm32-base.org/boards/STM32F103C8T6-Blue-Pill.html)
+     - ESP32 (very soon)
+- **Plug & play**: Arduino *SimpleFOCShield*
 
-<p align=""> <img src="https://askuric.github.io/Arduino-FOC/extras/Images/uno_l6234.jpg"  height="170px">  <img src="https://askuric.github.io/Arduino-FOC/extras/Images/hmbgc_v22.jpg" height="170px">  <img src="https://askuric.github.io/Arduino-FOC/extras/Images/foc_shield_v13.jpg"  height="170px"></p>
+<p align=""> <img src="https://docs.simplefoc.com/extras/Images/uno_l6234.jpg"  height="170px">  <img src="https://docs.simplefoc.com/extras/Images/hmbgc_v22.jpg" height="170px">  <img src="https://docs.simplefoc.com/extras/Images/foc_shield_v13.jpg"  height="170px"></p>
 
 ## Getting Started
 Depending on if you want to use this library as the plug and play Arduino library or you want to get insight in the algorithm and make changes there are two ways to install this code.
 
-- Full library installation [Docs](https://askuric.github.io/Arduino-FOC/library_download)
-- Minimal code installation [Docs](https://askuric.github.io/Arduino-FOC/minimal_download)
+- Full library installation [Docs](https://docs.simplefoc.com/library_download)
+- Minimal code installation [Docs](https://docs.simplefoc.com/minimal_download)
 
 ### Arduino SimpleFOC library installation to Arduino IDE
 #### Arduino Library Manager 
@@ -109,7 +114,7 @@ NOTE: This program uses all the default control parameters.
 //  BLDCMotor( pin_pwmA, pin_pwmB, pin_pwmC, pole_pairs, enable (optional))
 BLDCMotor motor = BLDCMotor(9, 10, 11, 11, 8);
 //  Encoder(pin_A, pin_B, CPR)
-Encoder encoder = Encoder(arduinoInt1, arduinoInt2, 2048);
+Encoder encoder = Encoder(2, 3, 2048);
 // channel A and B callbacks
 void doA(){encoder.handleA();}
 void doB(){encoder.handleB();}
@@ -150,15 +155,15 @@ void loop() {
   motor.monitor();
 }
 ```
-You can find more details in the [SimpleFOC documentation](https://askuric.github.io/Arduino-FOC/).
+You can find more details in the [SimpleFOC documentation](https://docs.simplefoc.com/).
 
 ## Example projects
 Here are some of the SimpleFOC application examples. 
 ### Arduino Field Oriented Controlled Reaction Wheel Inverted Pendulum
 This is a very cool open-source project of one of the simplest setups of the Reaction wheel inverted pendulum. Check out all the components and projects notes in the [github repository](https://github.com/askuric/Arduino-FOC-reaction-wheel-inverted-pendulum).  
 <p align="">
 <a href="https://youtu.be/Ih-izQyXJCI">
-<img src="https://askuric.github.io/Arduino-FOC/extras/Images/youtube_pendulum.png"  height="320px">
+<img src="https://docs.simplefoc.com/extras/Images/youtube_pendulum.png"  height="320px">
 </a>
 </p>
 
@@ -172,7 +177,7 @@ This is a very cool open-source project of one of the simplest setups of the Rea
 
 
 ## Documentation
-Find out more information about the Arduino SimpleFOC project in [docs website](https://askuric.github.io/Arduino-FOC/) 
+Find out more information about the Arduino SimpleFOC project in [docs website](https://docs.simplefoc.com/) 
 
 
 ## Arduino FOC repo structure

…es/bluepill_example/bluepill_example.ino …on_control/bluepill_position_control.inoexamples/encoder_examples/bluepill_example/bluepill_example.ino renamed to examples/hardware_specific_examples/Bluepill_examples/encoder/bluepill_position_control/bluepill_position_control.ino examples/encoder_examples/bluepill_example/bluepill_example.ino renamed to examples/hardware_specific_examples/Bluepill_examples/encoder/bluepill_position_control/bluepill_position_control.ino

@@ -6,9 +6,6 @@
  * 
  */
 #include <SimpleFOC.h>
-// software interrupt library
-#include <PciManager.h>
-#include <PciListenerImp.h>
 
 // motor instance
 BLDCMotor motor = BLDCMotor(PB6, PB7, PB8, 11, PB5);

…es/bluepill_example/bluepill_example.ino …on_control/bluepill_position_control.inoexamples/magnetic_sensor_examples/bluepill_example/bluepill_example.ino renamed to examples/hardware_specific_examples/Bluepill_examples/magnetic_sensor/bluepill_position_control/bluepill_position_control.ino examples/magnetic_sensor_examples/bluepill_example/bluepill_example.ino renamed to examples/hardware_specific_examples/Bluepill_examples/magnetic_sensor/bluepill_position_control/bluepill_position_control.ino

@@ -49,7 +49,7 @@ void setup() {
   // angle P controller 
   motor.P_angle.P = 20;
   // maximal velocity of the position control
-  motor.P_angle.velocity_limit = 4;
+  motor.P_angle.velocity_limit = 40;
 
   // use debugging with serial 
   Serial.begin(115200);

…examples/HMBGC_example/HMBGC_example.ino …le/position_control/position_control.inoexamples/encoder_examples/HMBGC_example/HMBGC_example.ino renamed to examples/hardware_specific_examples/HMBGC_example/position_control/position_control.ino examples/encoder_examples/HMBGC_example/HMBGC_example.ino renamed to examples/hardware_specific_examples/HMBGC_example/position_control/position_control.ino

@@ -2,7 +2,13 @@
  * 
  * HMBGC position motion control example with encoder
  * 
- * This board doesn't have any interrupt pins so we need to run all the encoder channels wiht the software interrupt library PciManager
+ * - Motor is connected the MOT1 connector (MOT1 9,10,11; MOT2 3,5,6)
+ * - Encoder is connected to A0 and A1
+ * 
+ * This board doesn't have any interrupt pins so we need to run all the encoder channels with the software interrupt library 
+ * - For this example we use: PciManager library : https://github.com/prampec/arduino-pcimanager
+ * 
+ * See docs.simplefoc.com for more info.
  * 
  */
 #include <SimpleFOC.h>

examples/hardware_specific_examples/HMBGC_example/voltage_control/voltage_control.ino

@@ -0,0 +1,126 @@
+/**
+ * 
+ * HMBGC torque control example using voltage control loop.
+ * 
+ * - Motor is connected the MOT1 connector (MOT1 9,10,11; MOT2 3,5,6)
+ * - Encoder is connected to A0 and A1
+ * 
+ * Most of the low-end BLDC driver boards doesn't have current measurement therefore SimpleFOC offers 
+ * you a way to control motor torque by setting the voltage to the motor instead hte current. 
+ * 
+ * This makes the BLDC motor effectively a DC motor, and you can use it in a same way. position motion control example with encoder
+ * 
+ * NOTE:
+ * > HMBGC doesn't have any interrupt pins so we need to run all the encoder channels with the software interrupt library 
+ * > - For this example we use: PciManager library : https://github.com/prampec/arduino-pcimanager
+ * 
+ * See docs.simplefoc.com for more info.
+ * 
+ */
+#include <SimpleFOC.h>
+// software interrupt library
+#include <PciManager.h>
+#include <PciListenerImp.h>
+
+
+// motor instance
+BLDCMotor motor = BLDCMotor(9, 10, 11, 11);
+
+// encoder instance
+Encoder encoder = Encoder(A0, A1, 8192);
+
+// Interrupt routine intialisation
+// channel A and B callbacks
+void doA(){encoder.handleA();}
+void doB(){encoder.handleB();}
+
+// encoder interrupt init
+PciListenerImp listenerA(encoder.pinA, doA);
+PciListenerImp listenerB(encoder.pinB, doB);
+
+void setup() { 
+  
+  // initialize encoder sensor hardware
+  encoder.init();
+  // interrupt initialization
+  PciManager.registerListener(&listenerA);
+  PciManager.registerListener(&listenerB);
+  // link the motor to the sensor
+  motor.linkSensor(&encoder);
+
+  // power supply voltage
+  // default 12V
+  motor.voltage_power_supply = 12;
+  
+  // choose FOC modulation (optional)
+  motor.foc_modulation = FOCModulationType::SpaceVectorPWM;
+
+  // set motion control loop to be used
+  motor.controller = ControlType::voltage;
+
+  // use debugging with serial for motor init
+  // comment out if not needed
+  motor.useDebugging(Serial);
+
+  // use debugging with serial 
+  Serial.begin(115200);
+  // comment out if not needed
+  motor.useDebugging(Serial);
+
+  // initialize motor
+  motor.init();
+  // align sensor and start FOC
+  motor.initFOC();
+
+  Serial.println("Motor ready.");
+  Serial.println("Set the target voltage using serial terminal:");
+  _delay(1000);
+}
+
+// target voltage to be set to the motor
+float target_voltage = 2;
+
+void loop() {
+
+  // main FOC algorithm function
+  // the faster you run this function the better
+  // Arduino UNO loop  ~1kHz
+  // Bluepill loop ~10kHz 
+  motor.loopFOC();
+
+  // Motion control function
+  // velocity, position or voltage (defined in motor.controller)
+  // this function can be run at much lower frequency than loopFOC() function
+  // You can also use motor.move() and set the motor.target in the code
+  motor.move(target_voltage);
+  
+  // communicate with the user
+  serialReceiveUserCommand();
+}
+
+
+// utility function enabling serial communication with the user to set the target values
+// this function can be implemented in serialEvent function as well
+void serialReceiveUserCommand() {
+  
+  // a string to hold incoming data
+  static String received_chars;
+  
+  while (Serial.available()) {
+    // get the new byte:
+    char inChar = (char)Serial.read();
+    // add it to the string buffer:
+    received_chars += inChar;
+    // end of user input
+    if (inChar == '\n') {
+      
+      // change the motor target
+      target_voltage = received_chars.toFloat();
+      Serial.print("Target voltage: ");
+      Serial.println(target_voltage);
+      
+      // reset the command buffer 
+      received_chars = "";
+    }
+  }
+}

…examples/angle_control/angle_control.ino …/encoder/angle_control/angle_control.inoexamples/encoder_examples/angle_control/angle_control.ino renamed to examples/motion_control/position_motion_control/encoder/angle_control/angle_control.ino examples/encoder_examples/angle_control/angle_control.ino renamed to examples/motion_control/position_motion_control/encoder/angle_control/angle_control.ino

@@ -1,12 +1,26 @@
 /**
  * 
- * Angle motion control example
+ * Position/angle motion control example
+ * Steps:
+ * 1) Configure the motor and encoder  
+ * 2) Run the code
+ * 3) Set the target angle (in radians) from serial terminal
  * 
- *  Arduino UNO example code for running velocity motion control using an encoder with index significantly
- *  Since Arduino UNO doesn't have enough interrupt pins we have to use software interrupt library PciManager.
+ * 
+ * NOTE :
+ * > Arduino UNO example code for running velocity motion control using an encoder with index significantly
+ * > Since Arduino UNO doesn't have enough interrupt pins we have to use software interrupt library PciManager.
  *  
- * If running this code with Nucleo or Bluepill or any other board which has more than 2 interrupt pins 
- * you can supply doIndex directly to the encoder.enableInterrupts(doA,doB,doIndex) and avoid using PciManger
+ * > If running this code with Nucleo or Bluepill or any other board which has more than 2 interrupt pins 
+ * > you can supply doIndex directly to the encoder.enableInterrupts(doA,doB,doIndex) and avoid using PciManger
+ * 
+ * > If you don't want to use index pin initialize the encoder class without index pin number:
+ * > For example:
+ * > - Encoder encoder = Encoder(2, 3, 8192);
+ * > and initialize interrupts like this:
+ * > - encoder.enableInterrupts(doA,doB)
+ * 
+ * Check the docs.simplefoc.com for more info about the possible encoder configuration.
  * 
  */
 #include <SimpleFOC.h>

…examples/angle_control/angle_control.ino …c_sensor/angle_control/angle_control.inoexamples/magnetic_sensor_examples/angle_control/angle_control.ino renamed to examples/motion_control/position_motion_control/magnetic_sensor/angle_control/angle_control.ino examples/magnetic_sensor_examples/angle_control/angle_control.ino renamed to examples/motion_control/position_motion_control/magnetic_sensor/angle_control/angle_control.ino

@@ -1,3 +1,12 @@
+/**
+ * 
+ * Position/angle motion control example
+ * Steps:
+ * 1) Configure the motor and magnetic sensor  
+ * 2) Run the code
+ * 3) Set the target angle (in radians) from serial terminal
+ * 
+ */
 #include <SimpleFOC.h>
 
 // Magnetic sensor instance
@@ -39,7 +48,7 @@ void setup() {
   // angle P controller 
   motor.P_angle.P = 20;
   // maximal velocity of the position control
-  motor.P_angle.velocity_limit = 4;
+  motor.P_angle.velocity_limit = 20;
 
   // use debugging with serial 
   Serial.begin(115200);

…ples/voltage_control/voltage_control.ino …oder/voltage_control/voltage_control.inoexamples/encoder_examples/voltage_control/voltage_control.ino renamed to examples/motion_control/torque_voltage_control/encoder/voltage_control/voltage_control.ino examples/encoder_examples/voltage_control/voltage_control.ino renamed to examples/motion_control/torque_voltage_control/encoder/voltage_control/voltage_control.ino

@@ -1,3 +1,12 @@
+/**
+ * 
+ * Torque control example using voltage control loop.
+ * 
+ * Most of the low-end BLDC driver boards doesn't have current measurement therefore SimpleFOC offers 
+ * you a way to control motor torque by setting the voltage to the motor instead hte current. 
+ * 
+ * This makes the BLDC motor effectively a DC motor, and you can use it in a same way.
+ */
 #include <SimpleFOC.h>
 
 // motor instance

…ples/voltage_control/voltage_control.ino …nsor/voltage_control/voltage_control.inoexamples/magnetic_sensor_examples/voltage_control/voltage_control.ino renamed to examples/motion_control/torque_voltage_control/magnetic_sensor/voltage_control/voltage_control.ino examples/magnetic_sensor_examples/voltage_control/voltage_control.ino renamed to examples/motion_control/torque_voltage_control/magnetic_sensor/voltage_control/voltage_control.ino

@@ -1,3 +1,11 @@
+/**
+ * Torque control example using voltage control loop.
+ * 
+ * Most of the low-end BLDC driver boards doesn't have current measurement therefore SimpleFOC offers 
+ * you a way to control motor torque by setting the voltage to the motor instead hte current. 
+ * 
+ * This makes the BLDC motor effectively a DC motor, and you can use it in a same way.
+ */
 #include <SimpleFOC.h>
 
 // Magnetic sensor instance

…es/velocity_control/velocity_control.ino …er/velocity_control/velocity_control.inoexamples/encoder_examples/velocity_control/velocity_control.ino renamed to examples/motion_control/velocity_motion_control/encoder/velocity_control/velocity_control.ino examples/encoder_examples/velocity_control/velocity_control.ino renamed to examples/motion_control/velocity_motion_control/encoder/velocity_control/velocity_control.ino

@@ -1,12 +1,27 @@
 /**
  * 
  * Velocity motion control example
+ * Steps:
+ * 1) Configure the motor and encoder 
+ * 2) Run the code
+ * 3) Set the target velocity (in radians per second) from serial terminal
  * 
- *  Arduino UNO example code for running velocity motion control using an encoder with index significantly
- *  Since Arduino UNO doesn't have enough interrupt pins we have to use software interrupt library PciManager.
+ * 
+ * 
+ * NOTE :
+ * > Arduino UNO example code for running velocity motion control using an encoder with index significantly
+ * > Since Arduino UNO doesn't have enough interrupt pins we have to use software interrupt library PciManager.
  *  
- * If running this code with Nucleo or Bluepill or any other board which has more than 2 interrupt pins 
- * you can supply doIndex directly to the encoder.enableInterrupts(doA,doB,doIndex) and avoid using PciManger
+ * > If running this code with Nucleo or Bluepill or any other board which has more than 2 interrupt pins 
+ * > you can supply doIndex directly to the encoder.enableInterrupts(doA,doB,doIndex) and avoid using PciManger
+ * 
+ * > If you don't want to use index pin initialize the encoder class without index pin number:
+ * > For example:
+ * > - Encoder encoder = Encoder(2, 3, 8192);
+ * > and initialize interrupts like this:
+ * > - encoder.enableInterrupts(doA,doB)
+ * 
+ * Check the docs.simplefoc.com for more info about the possible encoder configuration.
  * 
  */
 #include <SimpleFOC.h>