extension of the commander, + typo fix in pwm mag sensor

Author: askuric

README.md

@@ -20,6 +20,9 @@ Therefore this is an attempt to:
 > - bugfixes commander
 > - bugfix `voltage_limit` when provided `phase_resistance`
 > - bugfix `hall_sensor` examples 
+> - added examples fot the powershield
+> - added initial support for `MagneticSensorPWM`
+> - extension of the `Commander` interface
 
 
 ## Arduino *SimpleFOCShield* v2.0.3

examples/utils/sensor_test/magnetic_sensors/magnetic_sensor_pwm_example/magnetic_sensor_pwm_software_interrupt/magnetic_sensor_pwm_software_interrupt.ino

@@ -16,7 +16,7 @@ MagneticSensorPWM sensor = MagneticSensorPWM(A0, 4, 904);
 void doPWM(){sensor.handlePWM();}
 
 // encoder interrupt init
-PciListenerImp listenerPWM(sensor.pinPWM, doPWM);}
+PciListenerImp listenerPWM(sensor.pinPWM, doPWM);
 
 void setup() {
   // monitoring port

keywords.txt

@@ -122,6 +122,8 @@ sensor_offset	KEYWORD2
 zero_electric_angle	KEYWORD2
 verbose	KEYWORD2
 decimal_places	KEYWORD2
+phase_resistance	KEYWORD2
+modulation_centered	KEYWORD2
 
 
 

src/common/base_classes/FOCMotor.h

@@ -169,7 +169,7 @@ class FOCMotor
     LowPassFilter LPF_current_q{DEF_CURR_FILTER_Tf};//!<  parameter determining the current Low pass filter configuration 
     LowPassFilter LPF_current_d{DEF_CURR_FILTER_Tf};//!<  parameter determining the current Low pass filter configuration 
     PIDController PID_velocity{DEF_PID_VEL_P,DEF_PID_VEL_I,DEF_PID_VEL_D,DEF_PID_VEL_RAMP,DEF_PID_VEL_LIMIT};//!< parameter determining the velocity PID configuration
-    PIDController P_angle{DEF_P_ANGLE_P,0,0,1e10,DEF_VEL_LIM};	//!< parameter determining the position PID configuration 
+    PIDController P_angle{DEF_P_ANGLE_P,0,0,0,DEF_VEL_LIM};	//!< parameter determining the position PID configuration 
     LowPassFilter LPF_velocity{DEF_VEL_FILTER_Tf};//!<  parameter determining the velocity Low pass filter configuration 
     LowPassFilter LPF_angle{0.0};//!<  parameter determining the angle low pass filter configuration 
     unsigned int motion_downsample = DEF_MOTION_DOWNSMAPLE; //!< parameter defining the ratio of downsampling for move commad

src/common/defaults.h

@@ -23,7 +23,7 @@
 #define DEF_PID_CURR_P 3 //!< default PID controller P value
 #define DEF_PID_CURR_I 300.0 //!<  default PID controller I value
 #define DEF_PID_CURR_D 0.0 //!<  default PID controller D value
-#define DEF_PID_CURR_RAMP 1e11 //!< default PID controller voltage ramp value
+#define DEF_PID_CURR_RAMP 0  //!< default PID controller voltage ramp value
 #define DEF_PID_CURR_LIMIT (DEF_POWER_SUPPLY) //!< default PID controller voltage limit
 #define DEF_CURR_FILTER_Tf 0.005 //!< default currnet filter time constant
 #endif

src/common/pid.cpp

@@ -40,13 +40,15 @@ float PIDController::operator() (float error){
     // antiwindup - limit the output variable
     output = _constrain(output, -limit, limit);
 
-    // limit the acceleration by ramping the output
-    float output_rate = (output - output_prev)/Ts;
-    if (output_rate > output_ramp)
-        output = output_prev + output_ramp*Ts;
-    else if (output_rate < -output_ramp)
-        output = output_prev - output_ramp*Ts;
-        
+    // if output ramp defined
+    if(output_ramp > 0){
+        // limit the acceleration by ramping the output
+        float output_rate = (output - output_prev)/Ts;
+        if (output_rate > output_ramp)
+            output = output_prev + output_ramp*Ts;
+        else if (output_rate < -output_ramp)
+            output = output_prev - output_ramp*Ts;
+    }
     // saving for the next pass
     integral_prev = integral;
     output_prev = output;

src/communication/Commander.cpp

@@ -170,10 +170,10 @@ void Commander::motor(FOCMotor* motor, char* user_command) {
       }
       break;
     case CMD_MOTION_TYPE:
-      printVerbose(F("Motion: "));
+      printVerbose(F("Motion:"));
       switch(sub_cmd){
         case SCMD_DOWNSAMPLE:
-            printVerbose(F("downsample: "));
+            printVerbose(F(" downsample: "));
             if(!GET) motor->motion_downsample = value;
             println((int)motor->motion_downsample);
           break;
@@ -224,6 +224,38 @@ void Commander::motor(FOCMotor* motor, char* user_command) {
       if(!GET) (bool)value ? motor->enable() : motor->disable();
        println(motor->enabled);
       break;
+    case CMD_PWMMOD:
+       // PWM modulation change
+       printVerbose(F("PWM Mod | "));
+       switch (sub_cmd){
+        case SCMD_PWMMOD_TYPE:      // zero offset
+          printVerbose(F("type: "));
+          if(!GET) motor->foc_modulation = (FOCModulationType)value;
+          switch(motor->foc_modulation){
+            case FOCModulationType::SinePWM:
+              println(F("SinePWM"));
+              break;
+            case FOCModulationType::SpaceVectorPWM:
+              println(F("SVPWM"));
+              break;
+            case FOCModulationType::Trapezoid_120:
+              println(F("Trap 120"));
+              break;
+            case FOCModulationType::Trapezoid_150:
+              println(F("Trap 150"));
+              break;
+          }
+          break;
+        case SCMD_PWMMOD_CENTER:      // centered modulation
+          printVerbose(F("center: "));
+          if(!GET) motor->modulation_centered = value;
+          println(motor->modulation_centered);
+          break;
+        default:
+          printError();
+          break;
+       }
+      break;
     case CMD_RESIST:
       // enable/disable
       printVerbose(F("R phase: "));
@@ -271,15 +303,15 @@ void Commander::motor(FOCMotor* motor, char* user_command) {
               break;
             case 2: // get voltage d
               printVerbose(F("Vd: "));
-              println(motor->voltage.q);
+              println(motor->voltage.d);
               break;
             case 3: // get current q
               printVerbose(F("Cq: "));
               println(motor->current.q);
               break;
             case 4: // get current d
               printVerbose(F("Cd: "));
-              println(motor->current.q);
+              println(motor->current.d);
               break;
             case 5: // get velocity
               printVerbose(F("vel: "));
@@ -289,6 +321,22 @@ void Commander::motor(FOCMotor* motor, char* user_command) {
               printVerbose(F("angle: "));
               println(motor->shaft_angle);
               break;
+            case 7: // get all states
+              printVerbose(F("all: "));
+              print(motor->target);
+              print(";");
+              print(motor->voltage.q);
+              print(";");
+              print(motor->voltage.d);
+              print(";");
+              print(motor->current.q);
+              print(";");
+              print(motor->current.d);
+              print(";");
+              print(motor->shaft_velocity);
+              print(";");
+              println(motor->shaft_angle);
+              break;
             default:
               printError();
               break;

src/communication/commands.h

@@ -15,6 +15,7 @@
  #define CMD_SENSOR    'S' //!< sensor offsets
  #define CMD_MONITOR   'M' //!< monitoring
  #define CMD_RESIST    'R' //!< motor phase resistance
+ #define CMD_PWMMOD   'W' //!< pwm modulation
 
  // commander configuration
  #define CMD_SCAN    '?' //!< command scaning the network - only for commander
@@ -41,5 +42,9 @@
  #define SCMD_CLEAR      'C' //!< Clear all monitored variables
  #define SCMD_GET        'G' //!< Get variable only one value
  #define SCMD_SET        'S' //!< Set variables to be monitored
- 
+
+ #define SCMD_PWMMOD_TYPE   'T'  //!<< Pwm modulation type
+ #define SCMD_PWMMOD_CENTER 'C'  //!<< Pwm modulation center flag
+
+
 #endif