FEAT refactoring owen's sensor implementations

Author: askuric

examples/hardware_specific_examples/ESP32/magnetic_sensor/esp32_position_control/esp32_position_control.ino

@@ -15,6 +15,9 @@ MagneticSensorSPI sensor = MagneticSensorSPI(10, 14, 0x3FFF);
 // SCL 22
 //MagneticSensorI2C sensor = MagneticSensorI2C(0x36, 12, 0x0E, 4);
 
+// Analog output Magnetic sensor instance (AS5600)
+// MagneticSensorAnalog sensor = MagneticSensorAnalog(A1, 14, 1020);
+
 // Motor instance
 BLDCMotor motor = BLDCMotor(25, 26, 27, 7);
 

examples/motion_control/position_motion_control/hall_sensor/angle_control/angle_control.ino

@@ -33,7 +33,7 @@ void doA(){sensor.handleA();}
 void doB(){sensor.handleB();}
 void doC(){sensor.handleC();}
 // If no available hadware interrupt pins use the software interrupt
-PciListenerImp listenerIndex(sensor.pinC, doC);
+PciListenerImp listenC(sensor.pinC, doC);
 
 
 void setup() {
@@ -42,7 +42,7 @@ void setup() {
   sensor.init();
   sensor.enableInterrupts(doA, doB); //, doC); 
   // software interrupts
-  PciManager.registerListener(&listenerIndex);
+  PciManager.registerListener(&listenC);
   // link the motor to the sensor
   motor.linkSensor(&sensor);
 

examples/motion_control/position_motion_control/magnetic_sensor/angle_control/angle_control.ino

@@ -9,10 +9,12 @@
  */
 #include <SimpleFOC.h>
 
-// magnetic sensor instance
-MagneticSensorSPI sensor = MagneticSensorSPI(10, 16384, 0x3FFF);
-// magnetic sensor instance
+// magnetic sensor instance - SPI
+MagneticSensorSPI sensor = MagneticSensorSPI(10, 14, 0x3FFF);
+// magnetic sensor instance - I2C
 //MagneticSensorI2C sensor = MagneticSensorI2C(0x36, 12, 0x0E, 4);
+// magnetic sensor instance - analog output
+// MagneticSensorAnalog sensor = MagneticSensorAnalog(A1, 14, 1020);
 
 // Motor instance
 BLDCMotor motor = BLDCMotor(9, 5, 6, 11, 8);

examples/motion_control/torque_voltage_control/analog/voltage_control.ino

@@ -8,10 +8,12 @@
  */
 #include <SimpleFOC.h>
 
-// magnetic sensor instance
-MagneticSensorSPI sensor = MagneticSensorSPI(10, 16384, 0x3FFF);
-// magnetic sensor instance
+// magnetic sensor instance - SPI
+MagneticSensorSPI sensor = MagneticSensorSPI(10, 14, 0x3FFF);
+// magnetic sensor instance - I2C
 //MagneticSensorI2C sensor = MagneticSensorI2C(0x36, 12, 0x0E, 4);
+// magnetic sensor instance - analog output
+// MagneticSensorAnalog sensor = MagneticSensorAnalog(A1, 14, 1020);
 
 // Motor instance
 BLDCMotor motor = BLDCMotor(9, 5, 6, 11, 8);

examples/motion_control/torque_voltage_control/magnetic_sensor/voltage_control/voltage_control.ino

@@ -12,10 +12,12 @@
  */
 #include <SimpleFOC.h>
 
-// magnetic sensor instance
+// magnetic sensor instance - SPI
 MagneticSensorSPI sensor = MagneticSensorSPI(10, 16384, 0x3FFF);
-// magnetic sensor instance
+// magnetic sensor instance - I2C
 //MagneticSensorI2C sensor = MagneticSensorI2C(0x36, 12, 0x0E, 4);
+// magnetic sensor instance - analog output
+// MagneticSensorAnalog sensor = MagneticSensorAnalog(A1, 14, 1020);
 
 // Motor instance
 BLDCMotor motor = BLDCMotor(9, 5, 6, 11, 8);

examples/motion_control/velocity_motion_control/magnetic_sensor/velocity_control/velocity_control.ino

@@ -0,0 +1,152 @@
+/**
+ * Comprehensive BLDC motor control example using Hall sensor
+ * 
+ * Using serial terminal user can send motor commands and configure the motor and FOC in real-time:
+ * - configure PID controller constants
+ * - change motion control loops
+ * - monitor motor variabels
+ * - set target values
+ * - check all the configuration values 
+ * 
+ * To check the config value just enter the command letter.
+ * For example: - to read velocity PI controller P gain run: P
+ *              - to set velocity PI controller P gain  to 1.2 run: P1.2
+ * 
+ * To change the target value just enter a number in the terminal:
+ * For example: - to change the target value to -0.1453 enter: -0.1453
+ *              - to get the current target value enter: V3 
+ * 
+ * List of commands:
+ *  - P: velocity PI controller P gain
+ *  - I: velocity PI controller I gain
+ *  - L: velocity PI controller voltage limit
+ *  - R: velocity PI controller voltage ramp
+ *  - F: velocity Low pass filter time constant
+ *  - K: angle P controller P gain
+ *  - N: angle P controller velocity limit
+ *  - C: control loop 
+ *    - 0: voltage 
+ *    - 1: velocity 
+ *    - 2: angle
+ *  - V: get motor variables
+ *    - 0: currently set voltage
+ *    - 1: current velocity
+ *    - 2: current angle
+ *    - 3: current target value
+ *
+ */
+#include <SimpleFOC.h>
+// software interrupt library
+#include <PciManager.h>
+#include <PciListenerImp.h>
+
+// motor instance
+BLDCMotor motor = BLDCMotor(9, 10, 11, 11, 7);
+
+// hall sensor instance
+HallSensor sensor = HallSensor(2, 3, 4, 11);
+
+// Interrupt routine intialisation
+// channel A, B and C callbacks
+void doA(){sensor.handleA();}
+void doB(){sensor.handleB();}
+void doC(){sensor.handleC();}
+// If no available hadware interrupt pins use the software interrupt
+PciListenerImp listenC(sensor.pinC, doC);
+
+void setup() {
+
+  // initialize encoder sensor hardware
+  sensor.init();
+  sensor.enableInterrupts(doA, doB); //, doC); 
+  // software interrupts
+  PciManager.registerListener(&listenC);
+  
+  // link the motor to the sensor
+  motor.linkSensor(&sensor);
+
+  // choose FOC modulation
+  motor.foc_modulation = FOCModulationType::SpaceVectorPWM;
+
+  // power supply voltage [V]
+  motor.voltage_power_supply = 12;
+
+  // set control loop type to be used
+  motor.controller = ControlType::voltage;
+
+  // contoller configuration based on the controll type 
+  motor.PI_velocity.P = 0.2;
+  motor.PI_velocity.I = 20;
+  // default voltage_power_supply
+  motor.PI_velocity.voltage_limit = 12;
+
+  // velocity low pass filtering time constant
+  motor.LPF_velocity.Tf = 0.01;
+
+  // angle loop controller
+  motor.P_angle.P = 20;
+  // angle loop velocity limit
+  motor.P_angle.velocity_limit = 50;
+
+  // use monitoring with serial for motor init
+  // monitoring port
+  Serial.begin(115200);
+  // comment out if not needed
+  motor.useMonitoring(Serial);
+
+  // initialise motor
+  motor.init();
+  // align encoder and start FOC
+  motor.initFOC();
+
+  // set the inital target value
+  motor.target = 2;
+
+
+  // Run user commands to configure and the motor (find the full command list in docs.simplefoc.com)
+  Serial.println("Motor commands sketch | Initial motion control > torque/voltage : target 2V.");
+  
+  _delay(1000);
+}
+
+
+void loop() {
+  // iterative setting FOC phase voltage
+  motor.loopFOC();
+
+  // iterative function setting the outter loop target
+  // velocity, position or voltage
+  // if tatget not set in parameter uses motor.target variable
+  motor.move();
+
+  // user communication
+  motor.command(serialReceiveUserCommand());
+}
+
+// utility function enabling serial communication the user
+String serialReceiveUserCommand() {
+  
+  // a string to hold incoming data
+  static String received_chars;
+  
+  String command = "";
+
+  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') {
+      
+      // execute the user command
+      command = received_chars;
+
+      // reset the command buffer 
+      received_chars = "";
+    }
+  }
+  return command;
+}
+

examples/motor_full_control_serial_examples/encoder/full_control_serial/full_control_serial.ino renamed to examples/motor_commands_serial_examples/encoder/full_control_serial/full_control_serial.ino

@@ -37,10 +37,12 @@
  */
 #include <SimpleFOC.h>
 
-// SPI magnetic sensor instance
+// magnetic sensor instance - SPI
 MagneticSensorSPI sensor = MagneticSensorSPI(10, 16384, 0x3FFF);
-// I2C magnetic sensor instance
+// magnetic sensor instance - I2C
 //MagneticSensorI2C sensor = MagneticSensorI2C(0x36, 12, 0x0E, 4);
+// magnetic sensor instance - analog output
+// MagneticSensorAnalog sensor = MagneticSensorAnalog(A1, 14, 1020);
 
 // motor instance
 BLDCMotor motor = BLDCMotor(9, 5, 6, 11, 8);

examples/motor_commands_serial_examples/hall_sensor/full_control_serial/full_control_serial.ino

@@ -19,10 +19,12 @@
 // its not important how many pole pairs do you set, the progam will find it alone
 BLDCMotor motor = BLDCMotor(9, 5, 6, 0, 8);
 
-// magnetic sensor instance
-MagneticSensorSPI sensor = MagneticSensorSPI(10, 16384, 0x3FFF);
-// magnetic sensor instance
+// magnetic sensor instance - SPI
+MagneticSensorSPI sensor = MagneticSensorSPI(10, 14, 0x3FFF);
+// magnetic sensor instance - I2C
 //MagneticSensorI2C sensor = MagneticSensorI2C(0x36, 12, 0x0E, 4);
+// magnetic sensor instance - analog output
+// MagneticSensorAnalog sensor = MagneticSensorAnalog(A1, 14, 1020);
 
 void setup() {