v2.1.1

SimpleFOClibrary v2.1.1

• bugfixes commander monitoring get values
• bugfix voltage_limit when provided phase_resistance @byDagor
• bugfix hall_sensor examples @owennewo
• full support of the SimpleFOCStudio @JorgeMaker
• added examples for the PowerShield
• added initial support for MagneticSensorPWM
  • interrupts - nonblocking
  • blocking mode pulseln
• SAMD51 support by @runger1101001
• initial support for Raspberry pi Pico 🎉 @runger1101001
• added examples to find the raw max and min of the analog and pwm sensor
• extension of the Commander interface
  • added pwm centering option WC
  • added pwm modulation cmd WT
  • issue #46: commander end of line character - by @maxlem
• improved esp32 implementation to avoid the need for mcpwm.h changes by @tschundler
• issue #62: motor.shaft_angle setting in the motor.initFOC()
• issue #76: esp32 division by zero
• community fix AS5600 register value
• renamed Pullup::EXTERN and Pullup::INTERN to Pullup::USE_EXTERN and Pullup::USE_INTERN

v2.1

SimpleFOClibrary v2.1

• Initial current sensing support🎉
  • Inline current sensors
  • adaptive zero finding and shunt direction
• Implemented real torque control
  • using voltage
  • using current magnitude (one current)
  • using FOC currents ( d-q currents ) - real foc control
• SVPWM full implementation d+q axis
• Simplified sensor implementation📢
  • For new sensor implementation only one function necessary getAngle()
• Upgrade of the HallSensor implementation by @owennewo
• Support for Arduino DUE - everything except the 6PWM mode
• Support for ATMega328pb
• bugfix for the Teensy boards ( setting 3pwm )
• extended support for 2PWM stepper drivers - by @zjor
• pull request #52
• included F macro for shrinking string memory usage - moved to programming memory
• disable phase support for 3pwm driver
  • not yet for 6pwm
• rewritten initFOC()
  • can be skipped and outputs much more info
  • align sensor: direction + zero offset + pole pair check
  • align current sense
• sensor offset supported (motor.sensor_offset)
• refactored motor commands interface
  • much more flexible and easy to extend
  • very easy to add new commands and function callbacks
  • implemented motor+pid+lpf commands of-the-shelf
• Added step/dir interface
  • integrated as an optional communication channel
• Added support for samd21 boards by @runger1101001
  • pull request #56

BEWARE 📢 slight API changes included

• ControlType renamed into MotionControlType
• ControlType::voltage does not exist any more now - MotionControlType::torque

v2.0.2

SimpleFOClibrary v2.0.2

• Arduino MEGA 2560 support
• OSC example project by @runger1101001
• floating point bug - open loop velocity by @ATILIUS-REGULUS

v2.0.1

SimpleFOClibrary v2.0.1

• ESP32 bugfix
  • frequency setting
  • pwm resolution
• 2PWM stepper class added StepperMotor2PWM
• some refactoring of examples

v2.0

SimpleFOClibrary v2.0

• 6PWM support
• Arduino UNO (atmega328)
• stm32 boards
• esp32 boards
• BLDC driver code separated See in docs!
  • BLDC: 6pwm and 3pwm
  • Stepper: 4pwm
  • Hardware specific code in separate files
  • PWM config
• I2C and SPI sensors multiple busses support by @owennewo See in docs!
• Hall sensor refactoring @owennewo
• A lot of refactoring

Experimental features

• Initial implementation of Block commutation by @owennewo
  • FOCModulationType::Trapezoid_120
  • FOCModulationType::Trapezoid_150
• Added support for separate setting of Ud and Uq setting.
  • Preparations for current control
  • Working only for SinePWM modulation at the moment

v1.6.1

SimpleFOClibrary v1.6.1

• Bugfix Teensy hardware config
• Bugfix ESP32/STM32 pwm frequency
• Bugfix SPI bitmask by @owennewo
• Fix - wrong library version in library.properties

v1.6.0

SimpleFOClibrary version 1.6.0

• Stepper motor FOC support 🎨🎉 🎊
  • Very easy to use and results are great, I love it!
  • backdrivable,
  • no losing steps
  • short demo youtube video
• Pull requests by @cousinitt
  • refactoring and c++11 improvements
  • pid + low pass filter refactoring
• Extended configurability of the sensor classes @owennewo
  • clock frequency
  • pinout configuration
  • quick config constructors
• configurable pwm frequency by Jürgen Frisch
  • stm32,teensy,eps32 - not for Arduino
  • stm32 added 12bit pwm resolution
• Teensy support by Christopher Parrott
  
• Huge refactoring done in the library 😄

v1.5.0

SimpleFOClibrary version 1.5.0

Features:

• Open-loop motor control
• Support Hall sensors
• Support for Analog interface Magnetic sensor
• New alignment procedure
  • automatic sensor direction detection
  • possibility to avoid alignment completely
• PI controller updated to PID controller
• Alignment and cogging test
• Refactored voltage and velocity limits
  • Introduced absolute voltage limit

BUGFIXES:

• Space vector calculation
• time measurement - two times _micros() call

Big thanks to @owennewo for awesome suggestions and pull-requests!

v1.4.1

SimpleFOClibrary version v1.4.1

• implemented ESP32 support
  • possible to run 4 motors
  • documentation provided
  • examples added
• moved hardware writing of PWM to FOCutils such as analogWrite()
• shrunk monitoring and motor commands prints due to the memory issues

v1.4.0

SimpleFOClibrary version 1.4.0

• Implemented I2C communication for Magnetic sensors
• Renamed MagneticSensor class and divided to MagneticSensorSPI and MagneticSensorI2C
• Fully documentation provided