Example stepper

Author: askuric

docs/simplefoc_library/examples/index.md

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         <img src="extras/Images/haptics.png">
         <i class="fa fa-external-link-square fa-2x"></i>
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+</div>
+<div class="image_icon">
+     <a href="stepper_control_nucleo">
+        <img src="extras/Images/stepper_example.png">
+        <i class="fa fa-external-link-square fa-2x"></i>
+    </a>
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docs/simplefoc_library/examples/stepper_control_nucleo.md

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+---
+layout: default
+title:  Stepper Motor Control Nucleo-64
+parent: Example projects
+description: "Arduino Simple Field Oriented Control (FOC) library ."
+nav_order: 8
+permalink: /stepper_control_nucleo
+grand_parent: Arduino <span class="simple">Simple<span class="foc">FOC</span>library</span> 
+---
+
+
+# Stepper motor control example<br>using L298N and Stm32 Nucleo-64
+For this stepper motor control example we are going to be using this hardware:
+
+[Stm32 Nucleo-64](https://www.mouser.fr/ProductDetail/STMicroelectronics/NUCLEO-F446RE?qs=%2Fha2pyFaduj0LE%252BzmDN2WNd7nDNNMR7%2Fr%2FThuKnpWrd0IvwHkOHrpg%3D%3D) | [L298N driver](https://www.ebay.com/itm/L298N-DC-Stepper-Motor-Driver-Module-Dual-H-Bridge-Control-Board-for-Arduino/362863436137?hash=item547c58a169:g:gkYAAOSwe6FaJ5Df) | [AMT 103 encoder](https://www.mouser.fr/ProductDetail/CUI-Devices/AMT103-V?qs=%2Fha2pyFaduiAsBlScvLoAWHUnKz39jAIpNPVt58AQ0PVb84dpbt53g%3D%3D) | [NEMA 17](https://www.ebay.com/itm/Nema-17-Stepper-Motor-Bipolar-2A-59Ncm-83-6oz-in-48mm-Body-4-lead-3D-Printer-CNC/282285186801?hash=item41b9821ef1:g:7dUAAOSwEzxYSl25)
+--- | --- | --- | --- 
+<img src="extras/Images/nucleo.jpg" class="imgtable150"> |  <img src="extras/Images/l298n.jpg" class="imgtable150">  | <img src="extras/Images/enc1.png" class="imgtable150">  | <img src="extras/Images/nema17_2.jpg" class="imgtable150"> 
+
+# Connecting everything together
+
+Here is an example of the connection scheme using the L298N and Nucleo-64: 
+
+<p><img src="extras/Images/stepper_connection.png" class="img400"></p>
+
+## L298N
+- Channels `ENA` and `ENB` are connected to pins `7` and `8`
+- Channels `IN1`, `IN2`, `IN3` and `IN4` are connected to the pins `5`, `6`, `9`, `10`
+- Common ground is connected in between nucleo and L298N
+- 12V power-supply is connected directly to the driver
+
+## Encoder 
+- Channels `A` and `B` are connected to the pins `A0` qnd `A1` 
+- Index channel is not used in this example but you cqn easily modify this example to support it
+
+## Motor
+- Motor phases `A1`, `A2`, `B1`and `B2` are connected directly the moto connectors of the L298N chip.
+
+
+
+# Full Arduino code
+
+```cpp
+#include <SimpleFOC.h>
+
+// Stepper motor instance
+StepperMotor motor = StepperMotor(5, 6, 9, 10, 50, 8, 7);
+
+// encoder instance
+Encoder encoder = Encoder(A1, A2, 2048);
+
+// Interrupt routine intialisation
+// channel A and B callbacks
+void doA(){encoder.handleA();}
+void doB(){encoder.handleB();}
+
+void setup() {
+
+  // initialize encoder sensor hardware
+  encoder.init();
+  encoder.enableInterrupts(doA, doB); 
+  // link the motor to the sensor
+  motor.linkSensor(&encoder);
+
+  // 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.PID_velocity.P = 0.2;
+  motor.PID_velocity.I = 20;
+  motor.PID_velocity.D = 0;
+  // default voltage_power_supply
+  motor.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.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;
+}
+
+```