reanmed current to dc_current

Author: askuric

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

examples/motion_control/torque_control/encoder/current_control/current_control.ino

@@ -46,7 +46,7 @@ void setup() {
   motor.linkCurrentSense(&current_sense);
 
   // set torque mode:
-  // TorqueControlType::current 
+  // TorqueControlType::dc_current 
   // TorqueControlType::voltage
   // TorqueControlType::foc_current
   motor.torque_controller = TorqueControlType::foc_current; 

examples/utils/current_sense_test/inline_current_sense_test/inline_current_sense_test.ino

@@ -24,7 +24,7 @@ void setup() {
 void loop() {
 
     PhaseCurrent_s currents = current_sense.getPhaseCurrents();
-    float current_magnitude = current_sense.getCurrent();
+    float current_magnitude = current_sense.getDCCurrent();
 
     Serial.print(currents.a*1000); // milli Amps
     Serial.print("\t");

examples/utils/driver_standalone_test/stepper_driver_2pwm_standalone/stepper_driver_2pwm_standalone.ino

@@ -6,6 +6,9 @@
 // StepperDriver2PWM(pwm1, in1a, in1b, pwm2, in2a, in2b, (en1, en2 optional))
 StepperDriver2PWM driver = StepperDriver2PWM(3, 4, 5, 10 , 9 , 8 , 11, 12);
 
+// StepperDriver2PWM(pwm1, dir1, pwm2, dir2,(en1, en2 optional))
+// StepperDriver2PWM driver = StepperDriver2PWM(3, 4, 5, 6, 11, 12);
+
 void setup() {
 
   // pwm frequency to be used [Hz]

keywords.txt

@@ -78,7 +78,7 @@ angleOpenloop	KEYWORD2
 velocityOpenloop	KEYWORD2
 getPhaseCurrents	KEYWORD2
 getFOCCurrents	KEYWORD2
-getCurrent	KEYWORD2
+getDCCurrent	KEYWORD2
 setPwm	KEYWORD2
 driverAlign	KEYWORD2
 driverSync	KEYWORD2
@@ -124,7 +124,7 @@ velocity_openloop	KEYWORD2
 angle	KEYWORD2
 angle_openloop	KEYWORD2
 torque	KEYWORD2
-current	KEYWORD2
+dc_current	KEYWORD2
 foc_current	KEYWORD2
 
 

src/BLDCMotor.cpp

@@ -183,8 +183,9 @@ int BLDCMotor::alignSensor() {
     // check pole pair number 
     if(monitor_port) monitor_port->print(F("MOT: PP check: "));
     float moved =  fabs(mid_angle - end_angle);
-    if( fabs(moved*pole_pairs - _2PI) > 0.25 ) { // 0.25 is arbitrary number it can be lower or higher!
-      if(monitor_port) monitor_port->println(F("fail!"));
+    if( fabs(moved*pole_pairs - _2PI) > 0.5 ) { // 0.5 is arbitrary number it can be lower or higher!
+      if(monitor_port) monitor_port->print(F("fail - estimated pp:"));
+      if(monitor_port) monitor_port->println(_2PI/moved,4);
       return 0; // failed calibration
     }else if(monitor_port) monitor_port->println(F("OK!"));
 
@@ -250,10 +251,10 @@ void BLDCMotor::loopFOC() {
     case TorqueControlType::voltage:
       // no need to do anything really
       break;
-    case TorqueControlType::current:
+    case TorqueControlType::dc_current:
       if(!current_sense) return;
       // read overall current magnitude
-      current.q = current_sense->getCurrent(electrical_angle);
+      current.q = current_sense->getDCCurrent(electrical_angle);
       // filter the value values
       current.q = LPF_current_q(current.q);
       // calculate the phase voltage

src/common/base_classes/CurrentSense.cpp

@@ -4,7 +4,7 @@
 // get current magnitude 
 //   - absolute  - if no electrical_angle provided 
 //   - signed    - if angle provided
-float CurrentSense::getCurrent(float motor_electrical_angle){
+float CurrentSense::getDCCurrent(float motor_electrical_angle){
     // read current phase currents
     PhaseCurrent_s current = getPhaseCurrents();
     // currnet sign - if motor angle not provided the magnitude is always positive

src/common/base_classes/CurrentSense.h

@@ -24,6 +24,18 @@ class CurrentSense{
      */
     virtual int driverSync(BLDCDriver *driver) = 0;
 
+    // calibration variables
+    bool skip_align = false; //!< variable signaling that the phase current direction should be verified during initFOC()
+    /**
+     * Function intended to verify if:
+     *   - phase current are oriented properly 
+     *   - if their order is the same as driver phases
+     * 
+     * This function corrects the alignment errors if possible ans if no such thing is needed it can be left empty (return 1)
+     * @returns -  0 - for failure &  positive number (with status) - for success 
+     */
+    virtual int driverAlign(BLDCDriver *driver, float voltage) = 0;
+
     /**
      *  Function rading the phase currents a, b and c
      *   This function will be used with the foc control throught the function 
@@ -41,7 +53,7 @@ class CurrentSense{
      *  
      * @param angle_el - electrical angle of the motor (optional) 
      */
-    virtual float getCurrent(float angle_el = 0);
+    virtual float getDCCurrent(float angle_el = 0);
 
     /**
      * Function used for FOC contorl, it reads the DQ currents of the motor 
@@ -50,18 +62,6 @@ class CurrentSense{
      * @param angle_el - motor electrical angle
      */
     DQCurrent_s getFOCCurrents(float angle_el);
-
-    // calibration variables
-    bool skip_align = false; //!< variable signaling that the phase current direction should be verified during initFOC()
-    /**
-     * Function intended to verify if:
-     *   - phase current are oriented properly 
-     *   - if their order is the same as driver phases
-     * 
-     * This function corrects the alignment errors if possible ans if no such thing is needed it can be left empty (return 1)
-     * @returns -  0 - for failure &  positive number (with status) - for success 
-     */
-    virtual int driverAlign(BLDCDriver *driver, float voltage) = 0;
 };
 
 #endif

src/common/base_classes/FOCMotor.h

@@ -37,7 +37,7 @@ enum MotionControlType{
  */
 enum TorqueControlType{
   voltage, //!< Torque control using voltage
-  current, //!< Torque control using current
+  dc_current, //!< Torque control using DC current (one current magnitude)
   foc_current //!< torque control using dq currents
 };
 

src/communication/Commander.cpp

@@ -202,13 +202,13 @@ void Commander::motor(FOCMotor* motor, char* user_command) {
         motor->torque_controller = (TorqueControlType)value;
       switch(motor->torque_controller){
         case TorqueControlType::voltage:
-          println(F("volt"));
+          println(F("dc volt"));
           break;
-        case TorqueControlType::current:
-          println(F("curr"));
+        case TorqueControlType::dc_current:
+          println(F("dc curr"));
           break;
         case TorqueControlType::foc_current:
-          println(F("foc"));
+          println(F("foc curr"));
           break;
       }
       break;