added minimal example

Author: askuric

examples/minimal_example/minimal_example.ino

@@ -0,0 +1,48 @@
+#include <ArduinoFOC.h>
+
+// This example gives you a minimal code needed to run the FOC algorithm
+// All the configuration is set to defualt values
+// motor.power_supply_voltage= 12V
+// motor.driver = DriverType::bipolar
+// encoder.pullup = Pullup::EXTERN
+// motor.PI_velocity.K = 1
+// motor.PI_velocity.Ti = 0.003
+
+//  BLDCMotor( phA, phB, phC, pole_pairs,  enable)
+BLDCMotor motor = BLDCMotor(9, 10, 11, 11, 8);
+//  Encoder(encA, encB , cpr, index)
+Encoder encoder = Encoder(2, 3, 32768, 4);
+
+// interrupt ruotine intialisation
+void doA(){encoder.handleA();}
+void doB(){encoder.handleB();}
+
+void setup() {
+  // debugging port
+  Serial.begin(115200);
+
+  // initialise encoder hardware
+  encoder.init(doA, doB);
+  // link the motor to the sensor
+  motor.linkEncoder(&encoder);
+  // intialise motor
+  motor.init();
+  // velocity control
+  motor.controller = ControlType::velocity;
+  // align encoder and start FOC
+  motor.initFOC();
+
+  Serial.println("Motor ready.");
+  delay(1000);
+}
+
+// target velocity variable
+float target_velocity = 2;
+
+void loop() {
+  // foc loop
+  motor.loopFOC();
+  // control loop
+  motor.move(target_velocity);
+  motor_monitor();
+}