current sense better align + example refactoring

Author: askuric

examples/hardware_specific_examples/SimpleFOCMini/angle_control/angle_control.ino

@@ -0,0 +1,125 @@
+/**
+ *
+ * SimpleFOCMini motor control example
+ * 
+ * For Arduino UNO, the most convenient way to use the board is to stack it to the pins: 
+ * - 12 - GND
+ * - 11 - IN1
+ * - 10 - IN2
+ * -  9 - IN3
+ * -  8 - EN
+ * 
+ * For other boards with UNO headers but more PWM channles such as esp32, nucleo-64, samd51 metro etc, the best way to most convenient pinout is:
+ * - GND - GND
+ * -  13 - IN1
+ * -  12 - IN2
+ * -  11 - IN3
+ * -   9 - EN 
+ * 
+ * For the boards without arduino uno headers, the choice of pinout is a lot less constrained.
+ *
+ */
+#include <SimpleFOC.h>
+
+
+// BLDC motor & driver instance
+BLDCMotor motor = BLDCMotor(11);
+BLDCDriver3PWM driver = BLDCDriver3PWM(11, 10, 9, 8);
+
+// encoder instance
+Encoder encoder = Encoder(2, 3, 500);
+// Interrupt routine intialisation
+// channel A and B callbacks
+void doA(){encoder.handleA();}
+void doB(){encoder.handleB();}
+
+// instantiate the commander
+Commander command = Commander(Serial);
+void doMotor(char* cmd) { command.motor(&motor, cmd); }
+
+void setup() {
+  // if SimpleFOCMini is stacked in arduino headers
+  // on pins 12,11,10,9,8 
+  // pin 12 is used as ground
+  pinMode(12,OUTPUT);
+  pinMode(12,LOW);
+
+  // initialize encoder sensor hardware
+  encoder.init();
+  encoder.enableInterrupts(doA, doB);
+  // link the motor to the sensor
+  motor.linkSensor(&encoder);
+
+  // driver config
+  // power supply voltage [V]
+  driver.voltage_power_supply = 12;
+  driver.init();
+  // link the motor and the driver
+  motor.linkDriver(&driver);
+
+  // aligning voltage [V]
+  motor.voltage_sensor_align = 3;
+
+  // set motion control loop to be used
+  motor.controller = MotionControlType::angle;
+
+  // contoller configuration
+  // default parameters in defaults.h
+
+  // velocity PI controller parameters
+  motor.PID_velocity.P = 0.2f;
+  motor.PID_velocity.I = 20;
+  motor.PID_velocity.D = 0;
+  // default voltage_power_supply
+  motor.voltage_limit = 6;
+  // jerk control using voltage voltage ramp
+  // default value is 300 volts per sec  ~ 0.3V per millisecond
+  motor.PID_velocity.output_ramp = 1000;
+
+  // velocity low pass filtering time constant
+  motor.LPF_velocity.Tf = 0.01f;
+
+  // angle P controller
+  motor.P_angle.P = 20;
+  //  maximal velocity of the position control
+  motor.velocity_limit = 4;
+
+
+  // use monitoring with serial
+  Serial.begin(115200);
+  // comment out if not needed
+  motor.useMonitoring(Serial);
+
+  // initialize motor
+  motor.init();
+  // align encoder and start FOC
+  motor.initFOC();
+
+  // add target command M
+  command.add('M', doMotor, "motor");
+
+  Serial.println(F("Motor ready."));
+  Serial.println(F("Set the target angle using serial terminal:"));
+  _delay(1000);
+}
+
+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();
+
+  // function intended to be used with serial plotter to monitor motor variables
+  // significantly slowing the execution down!!!!
+  // motor.monitor();
+
+  // user communication
+  command.run();
+}

examples/motion_control/position_motion_control/encoder/angle_control/angle_control.ino

@@ -24,9 +24,6 @@
  *
  */
 #include <SimpleFOC.h>
-// software interrupt library
-#include <PciManager.h>
-#include <PciListenerImp.h>
 
 // BLDC motor & driver instance
 BLDCMotor motor = BLDCMotor(11);
@@ -36,15 +33,12 @@ BLDCDriver3PWM driver = BLDCDriver3PWM(9, 5, 6, 8);
 //StepperDriver4PWM driver = StepperDriver4PWM(9, 5, 10, 6,  8);
 
 // encoder instance
-Encoder encoder = Encoder(2, 3, 8192, A0);
+Encoder encoder = Encoder(2, 3, 8192);
 
 // Interrupt routine intialisation
 // channel A and B callbacks
 void doA(){encoder.handleA();}
 void doB(){encoder.handleB();}
-void doIndex(){encoder.handleIndex();}
-// If no available hadware interrupt pins use the software interrupt
-PciListenerImp listenerIndex(encoder.index_pin, doIndex);
 
 // angle set point variable
 float target_angle = 0;
@@ -57,8 +51,6 @@ void setup() {
   // initialize encoder sensor hardware
   encoder.init();
   encoder.enableInterrupts(doA, doB);
-  // software interrupts
-  PciManager.registerListener(&listenerIndex);
   // link the motor to the sensor
   motor.linkSensor(&encoder);
 
@@ -71,8 +63,6 @@ void setup() {
 
   // aligning voltage [V]
   motor.voltage_sensor_align = 3;
-  // index search velocity [rad/s]
-  motor.velocity_index_search = 3;
 
   // set motion control loop to be used
   motor.controller = MotionControlType::angle;

examples/utils/calibration/find_kv_rating/encoder/find_kv_rating/find_kv_rating.ino

@@ -49,7 +49,8 @@ void setup() {
   motor.linkSensor(&sensor);
 
   // driver config
-  // power supply voltage [V]
+  // IMPORTANT!
+  // make sure to set the correct power supply voltage [V]
   driver.voltage_power_supply = 12;
   driver.init();
   // link driver
@@ -58,9 +59,6 @@ void setup() {
   // aligning voltage
   motor.voltage_sensor_align = 3;
 
-  // choose FOC modulation (optional)
-  motor.foc_modulation = FOCModulationType::SpaceVectorPWM;
-
   // set motion control loop to be used
   motor.controller = MotionControlType::torque;
 

examples/utils/calibration/find_kv_rating/hall_sensor/find_kv_rating/find_kv_rating.ino

@@ -46,17 +46,15 @@ void setup() {
   motor.linkSensor(&sensor);
 
   // driver config
-  // power supply voltage [V]
+  // IMPORTANT!
+  // make sure to set the correct power supply voltage [V]
   driver.voltage_power_supply = 12;
   driver.init();
   // link driver
   motor.linkDriver(&driver);
 
   // aligning voltage
   motor.voltage_sensor_align = 3;
-  
-  // choose FOC modulation (optional)
-  motor.foc_modulation = FOCModulationType::SpaceVectorPWM;
 
   // set motion control loop to be used
   motor.controller = MotionControlType::torque;

examples/utils/calibration/find_kv_rating/magnetic_sensor/find_kv_rating/find_kv_rating.ino

@@ -43,17 +43,15 @@ void setup() {
   motor.linkSensor(&sensor);
 
   // driver config
-  // power supply voltage [V]
+  // IMPORTANT!
+  // make sure to set the correct power supply voltage [V]
   driver.voltage_power_supply = 12;
   driver.init();
   // link driver
   motor.linkDriver(&driver);
 
   // aligning voltage
   motor.voltage_sensor_align = 3;
-  
-  // choose FOC modulation (optional)
-  motor.foc_modulation = FOCModulationType::SpaceVectorPWM;
 
   // set motion control loop to be used
   motor.controller = MotionControlType::torque;

src/BLDCMotor.h

@@ -19,7 +19,7 @@ class BLDCMotor: public FOCMotor
      BLDCMotor class constructor
      @param pp pole pairs number
      @param R  motor phase resistance
-     @param KV  motor KV rating (1/K_bemf)
+     @param KV  motor KV rating (1/K_bemf) - rpm/V
      */ 
     BLDCMotor(int pp,  float R = NOT_SET, float KV = NOT_SET);