Merge branch 'dev' into open_loop_velocity

Author: askuric

.github/workflows/ccpp.yml

@@ -11,4 +11,4 @@ jobs:
       uses: ArminJo/[email protected]
       with:
         libraries:  PciManager 
-        examples-exclude: bluepill_position_control, esp32_position_control, esp32_i2c_dual_bus_example, stm32_i2c_dual_bus_example, magnetic_sensor_spi_alt_example 
+        examples-exclude: bluepill_position_control, esp32_position_control, esp32_i2c_dual_bus_example, stm32_i2c_dual_bus_example, magnetic_sensor_spi_alt_example, simplefoc_osc_esp32_3pwm

README.md

@@ -11,7 +11,17 @@ Therefore this is an attempt to:
 - Develop a modular BLDC driver board: [Arduino *SimpleFOCShield*](https://docs.simplefoc.com/arduino_simplefoc_shield_showcase).
 - ***New 📢:** Develop a modular Stepper motor board for FOC control:* <b>Arduino <span class="simple">Stepper<span class="foc">FOC</span>Shield</span></b>
 
-<blockquote class="info"><p> <b>NEW RELEASE 📢:</b> <i>Simple<b>FOC</b>library v2.0</i><br></p><ul><li><strong>6PWM support </strong> <b><a href="https://docs.simplefoc.com/drivers_config">See in docs!</a></b><ul><li>Arduino UNO (atmega328)</li><li>stm32 boards</li><li>esp32 boards</li></ul></li><li>BLDC driver code separated <b><a href="https://docs.simplefoc.com/code">See in docs!</a></b><ul><li> BLDC: 6pwm and 3pwm</li><li> Stepper: 4pwm</li><li> Hardware specific code in separate files</li><li> PWM config</li></ul></li><li>I2C and SPI sensors multiple busses support by <a href="https://github.com/owennewo">@owennewo</a> <b><a href="https://docs.simplefoc.com/magnetic_sensor">See in docs!</a></b></li><li>Hall sensor refactoring <a href="https://github.com/owennewo">@owennewo</a></li><li>A lot of refactoring</li></ul>Experimental features<ul><li>Initial implementation of Block commutation by <a href="https://github.com/owennewo">@owennewo</a><ul><li> FOCModulationType::Trapezoid_120</li><li> FOCModulationType::Trapezoid_150</li></ul></li><li>Added support for separate setting of <i>U<sub>d</sub></i> and <i>U<sub>q</sub></i> setting.<ul><li> Preparations for current control</li><li> Working only for SinePWM modulation at the moment</li></ul></li></ul></blockquote>
+
+> <b>NEW RELEASE 📢:</b> <i>Simple<b>FOC</b>library v2.0.2
+> - Arduino MEGA 2560 support
+> - OSC example project
+
+> <i>Simple<b>FOC</b>library v2.0.1
+> - ESP32 bugfix
+>   - frequency setting 
+>   - pwm resolution
+> - 2PWM stepper class added `StepperMotor2PWM`
+> - some refactoring of examples
 
 ## Arduino *SimpleFOCShield*
 

examples/.gitignore

@@ -0,0 +1 @@
+/.DS_Store

examples/motion_control/open_loop_motor_control/open_loop_position_example/open_loop_position_example.ino

@@ -1,16 +1,19 @@
-// Open loop motor control example 
+// Open loop motor control example
  #include <SimpleFOC.h>
 
 
 // BLDC motor & driver instance
+// BLDCMotor motor = BLDCMotor(pole pair number);
 BLDCMotor motor = BLDCMotor(11);
+// BLDCMotor motor = BLDCMotor(pole pair number);
 BLDCDriver3PWM driver = BLDCDriver3PWM(9, 5, 6, 8);
+
 // Stepper motor & driver instance
 //StepperMotor motor = StepperMotor(50);
 //StepperDriver4PWM driver = StepperDriver4PWM(9, 5, 10, 6,  8);
 
 void setup() {
-  
+
   // driver config
   // power supply voltage [V]
   driver.voltage_power_supply = 12;
@@ -19,24 +22,24 @@ void setup() {
   motor.linkDriver(&driver);
 
   // limiting motor movements
-  motor.voltage_limit = 3;   // rad/s
-  motor.velocity_limit = 20; // rad/s
+  motor.voltage_limit = 3;   // [V]
+  motor.velocity_limit = 20; // [rad/s]
   // open loop control config
   motor.controller = ControlType::angle_openloop;
 
   // init motor hardware
   motor.init();
-  
+
 
   Serial.begin(115200);
   Serial.println("Motor ready!");
   _delay(1000);
 }
 
-float target_position = 0; // rad/s
+float target_position = 0; // [rad/s]
 
 void loop() {
-  // open  loop angle movements 
+  // open  loop angle movements
   // using motor.voltage_limit and motor.velocity_limit
   motor.move(target_position);
 
@@ -47,25 +50,25 @@ void loop() {
 // 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_position = received_chars.toFloat();
       Serial.print("Target position: ");
       Serial.println(target_position);
-      
-      // reset the command buffer 
+
+      // reset the command buffer
       received_chars = "";
     }
   }
-}
+}

examples/motion_control/open_loop_motor_control/open_loop_velocity_example/open_loop_velocity_example.ino

@@ -1,16 +1,19 @@
-// Open loop motor control example 
+// Open loop motor control example
 #include <SimpleFOC.h>
 
 
 // BLDC motor & driver instance
+// BLDCMotor motor = BLDCMotor(pole pair number);
 BLDCMotor motor = BLDCMotor(11);
+// BLDCDriver3PWM driver = BLDCDriver3PWM(pwmA, pwmB, pwmC, Enable(optional));
 BLDCDriver3PWM driver = BLDCDriver3PWM(9, 5, 6, 8);
+
 // Stepper motor & driver instance
 //StepperMotor motor = StepperMotor(50);
 //StepperDriver4PWM driver = StepperDriver4PWM(9, 5, 10, 6,  8);
 
 void setup() {
-  
+
   // driver config
   // power supply voltage [V]
   driver.voltage_power_supply = 12;
@@ -19,25 +22,24 @@ void setup() {
   motor.linkDriver(&driver);
 
   // limiting motor movements
-  motor.voltage_limit = 3;   // rad/s
-  motor.velocity_limit = 20; // rad/s
+  motor.voltage_limit = 3;   // [V]
+  motor.velocity_limit = 20; // [rad/s]
 
   // open loop control config
   motor.controller = ControlType::velocity_openloop;
 
   // init motor hardware
   motor.init();
-  
 
   Serial.begin(115200);
   Serial.println("Motor ready!");
   _delay(1000);
 }
 
-float target_velocity = 0; // rad/s
+float target_velocity = 0; // [rad/s]
 
 void loop() {
-  // open loop velocity movement 
+  // open loop velocity movement
   // using motor.voltage_limit and motor.velocity_limit
   motor.move(target_velocity);
 
@@ -48,25 +50,25 @@ void loop() {
 // 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_velocity = received_chars.toFloat();
       Serial.print("Target velocity ");
       Serial.println(target_velocity);
-      
-      // reset the command buffer 
+
+      // reset the command buffer
       received_chars = "";
     }
   }
-}
+}

examples/osc_control_examples/layout1.touchosc

@@ -0,0 +1,182 @@
+/**
+ * Arduino SimpleFOC + OSC control example
+ *
+ * Simple example to show how you can control SimpleFOC via OSC.
+ *
+ * It's a nice way to work, easier than changing speeds via Seerial text input. It could also be the basis for
+ * a functional UI, for example in a lab, art-gallery or similar situation.
+ *
+ * For this example we used an ESP32 to run the code, a AS5048B I2C absolute encoder
+ * and a generic L298 driver board to drive a Emax 4114 gimbal motor. But there is no reason the OSC part will
+ * not work with any other setup.
+ *
+ * You will need:
+ *
+ * - a working SimpleFOC setup - motor, driver, encoder
+ * - a MCU with WiFi and UDP support, for example an ESP32, or an Arduino with Ethernet Shield
+ * - a device to run an OSC UI
+ * - a configured OSC UI
+ * - a WiFi network
+ *
+ * To do the OSC UI I used TouchOSC from https://hexler.net/products/touchosc
+ * There is an example UI file that works with this sketch, see "layout1.touchosc"
+ * You can open the UI file in 'TouchOSC Editor' (free program) and transfer it to the TouchOSC app on your device.
+ *
+ * Alternatively, there are other OSC UIs which may work, e.g. http://opensoundcontrol.org/implementations
+ *
+ * Using:
+ *
+ * Change the values below to match the WiFi ssid/password of your network.
+ * Load and run the code on your ESP32. Take a note of the IP address of your ESP32.
+ * Load and run the UI in TouchOSC.
+ * Configure TouchOSC to connect to your ESP32.
+ * The first command you send will cause the ESP32 to start sending responses to your TouchOSC device.
+ * After this you will see motor position and speed in the UI.
+ * Have fun controlling your SimpleFOC motors from your smartphone!
+ *
+ */
+
+
+#include "Arduino.h"
+#include <SimpleFOC.h>
+
+#include <WiFi.h>
+#include <WiFiUdp.h>
+
+#include <OSCMessage.h>
+#include <OSCBundle.h>
+#include <OSCBoards.h>
+#include <Math.h>
+
+
+const char ssid[] = "myssid";					// your network SSID (name)
+const char pass[] = "mypassword";	// your network password
+WiFiUDP Udp;
+IPAddress outIp(192,168,1,17);        // remote IP (not needed for receive)
+const unsigned int outPort = 8000;          // remote port (not needed for receive)
+const unsigned int inPort = 8000;        // local port to listen for UDP packets (here's where we send the packets)
+
+
+OSCErrorCode error;
+
+MagneticSensorI2C sensor = MagneticSensorI2C(0x40, 14, 0xFE, 8);
+BLDCMotor motor = BLDCMotor(11);
+BLDCDriver3PWM driver =  BLDCDriver3PWM(25, 26, 27);
+
+
+void setup() {
+	Serial.begin(115200);
+
+	WiFi.begin(ssid, pass);
+
+    Serial.print("Connecting WiFi ");
+    Serial.println(ssid);
+    while (WiFi.status() != WL_CONNECTED) {
+    	delay(500);
+    	Serial.print(".");
+    }
+    Udp.begin(inPort);
+    Serial.println();
+    Serial.print("WiFi connected. Local OSC address: ");
+    Serial.print(WiFi.localIP());
+    Serial.print(":");
+    Serial.println(inPort);
+
+    delay(2000);
+	Serial.println("Initializing motor.");
+
+	sensor.init();
+	motor.linkSensor(&sensor);
+	driver.voltage_power_supply = 9;
+	driver.init();
+	motor.linkDriver(&driver);
+	motor.controller = ControlType::velocity;
+	motor.PID_velocity.P = 0.2;
+	motor.PID_velocity.I = 20;
+	motor.PID_velocity.D = 0.001;
+	motor.PID_velocity.output_ramp = 1000;
+	motor.LPF_velocity.Tf = 0.01;
+	motor.voltage_limit = 8;
+	//motor.P_angle.P = 20;
+	motor.init();
+	motor.initFOC();
+
+	Serial.println("All initialization complete.");
+}
+
+// velocity set point variable
+float target_velocity = 2.0;
+// angle set point variable
+float target_angle = 1.0;
+
+
+void motorControl(OSCMessage &msg){
+	if (msg.isInt(0))
+		target_velocity = radians(msg.getInt(0));
+	else if (msg.isFloat(0))
+		target_velocity = radians(msg.getFloat(0));
+	else if (msg.isDouble(0))
+		target_velocity = radians(msg.getDouble(0));
+	Serial.print("Velocity set to ");
+	Serial.println(target_velocity);
+}
+
+void cmdControl(OSCMessage &msg){
+	char cmdStr[16];
+	if (msg.isString(0)) {
+		msg.getString(0,cmdStr,16);
+		String it(cmdStr);
+		motor.command(it);
+	}
+}
+
+long lastSend = 0;
+OSCMessage bundleIN;
+
+void loop() {
+    OSCBundle bundleOUT;
+
+	// FOC algorithm function
+	motor.move(target_velocity);
+	motor.loopFOC();
+
+
+	int size = Udp.parsePacket();
+	if (size > 0) {
+	    while (size--) {
+	    	bundleIN.fill(Udp.read());
+	    }
+	    if (!bundleIN.hasError()) {
+			bundleIN.dispatch("/mot1/S", motorControl);
+			bundleIN.dispatch("/mot1/C", cmdControl);
+	        IPAddress ip = Udp.remoteIP();
+	        if (!( ip==outIp )) {
+	        	Serial.print("New connection from ");
+	        	Serial.println(ip);
+	        	outIp = ip;
+	        }
+		}
+	    else {
+	    	error = bundleIN.getError();
+	    	Serial.print("error: ");
+	    	Serial.println(error);
+	    }
+		bundleIN.empty();
+	}
+	else { // don't receive and send in the same loop...
+		long now = millis();
+		if (now - lastSend > 100) {
+			int ang = (int)degrees(motor.shaftAngle()) % 360;
+			if (ang<0) ang = 360-abs(ang);
+		    //BOSCBundle's add' returns the OSCMessage so the message's 'add' can be composed together
+			bundleOUT.add("/mot1/A").add((int)ang);
+			bundleOUT.add("/mot1/V").add((int)degrees(motor.shaftVelocity()));
+			Udp.beginPacket(outIp, outPort);
+		    bundleOUT.send(Udp);
+		    Udp.endPacket();
+		    bundleOUT.empty(); // empty the bundle to free room for a new one
+		    lastSend = now;
+		}
+	}
+
+}