Merge pull request #14 from runger1101001/dev

askuric · web-flow · commit f4c4b093734a · 2023-03-10T08:15:21.000+01:00
some small fixes and updates
diff --git a/docs/simplefoc_libraries/dc_motors_library.md b/docs/simplefoc_libraries/dc_motors_library.md
@@ -0,0 +1,59 @@
+---
+layout: default
+title: <span class="simple">Simple<span class="foc">DC</span>Motor Library</span>
+nav_order: 1
+permalink: /dc_motors_library
+parent: <span class="simple">Simple<span class="foc">FOC</span>utils</span>
+has_children: False
+has_toc: False
+---
+
+
+# <span class="simple">Simple<span class="foc">DC</span> Motor</span> library
+
+![Library Compile](https://github.com/simplefoc/Arduino-FOC-dcmotor/workflows/Library%20Compile/badge.svg)
+![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)
+![arduino-library-badge](https://www.ardu-badge.com/badge/SimpleDCMotor.svg?)
+
+
+The <span class="simple">Simple<span class="foc">DC</span>Motor library</span> extends  <span class="simple">Simple<span class="foc">FOC</span> library to handle DC motors via their commonly used driver types. 
+
+## What is it?
+
+A collection of DCDriver classes and a DCMotor class that build on <span class="simple">Simple<span class="foc">FOC</span>library</span>.
+
+## What's in there?
+
+- DCMotor class
+- DCDriver classes for different DC motor driver types
+- Some examples how to use them
+
+## What's the advantage?
+
+- The core library doesn't work with DC motors, that's not its purpose. This library adds DC motor functionality.
+
+- This lets you use the many sensor drivers available in SimpleFOC, as well as helpful classes like the Commander, when working with DC motors also.
+
+- And it allows you to use SimpleFOC's control architecture to use closed loop control, so in combination with a sensor, you can turn even a cheap DC motor into an accurate digital servo.
+
+## How can I use it?
+
+```cpp
+#include "SimpleDCMotor.h"
+```
+
+It is in the arduino library manager, called "SimpleDCMotor". Install as normal for arduino libraries in Arduino IDE or PlatformIO.
+
+Please see the readme file on github and the library examples for how to use it.
+
+### GitHub
+
+You can find the source code for the library here: [https://github.com/simplefoc/Arduino-FOC-dcmotor](https://github.com/simplefoc/Arduino-FOC-dcmotor).
+
+
+## Documentation
+
+Please see the documentation on github. Note that there is additional documentation in the `drivers` subdirectory describing the individual DC motor drivers.
+
+
+
diff --git a/docs/simplefoc_libraries/index.md b/docs/simplefoc_libraries/index.md
@@ -29,7 +29,7 @@ In the context of the <span class="simple">Simple<span class="foc">FOC</span>pro
    <span class="simple">Simple<span class="foc">FOC</span>library</span> is really intended for field oriented control of PMSM/BLDC motors, it's in the name ;-). But for different reasons, sometimes DC motors are preferred, and while we're not focused on this use-case, we do have a fair amount of code that can be leveraged to help with DC-Motor control applications.
 
 
-   So this represents a less-supported effort to provide some useful building blocks for DC-Motors.
+   So this represents a less-supported effort to provide some useful building blocks for DC-Motors. [Read more ...](dc_motors_library)
 
    <a href ="https://github.com/simplefoc/Arduino-FOC-dcmotor" class="btn"><i class="fa fa-github"></i> Github repo</a>   
 
diff --git a/docs/simplefoc_library/cheatsheet/options.md b/docs/simplefoc_library/cheatsheet/options.md
@@ -35,7 +35,8 @@ motor.controller | MotionControlType::torque | Motion control mode
 motor.torque_controller | TorqueControlType::voltage | Torque control mode
 motor.motion_downsample | 0 | Set to values > 1 to reduce how often move() is executed compared to loopFOC(). On fast MCUs it makes sense to reduce how often move() gets called.
 motor.phase_resistance | NOT SET | Motor phase resistance. If set, used to calculate current limits based on voltage limits. Value in Ohms.
-motor.K_bemf | NOT SET | motor back emf constant, as 1/KV. Units 1/rad/s/V. Set via motor constructor, where you can specify KV in RPM/V.
+motor.KV_rating | NOT SET | motor KV rating, RMS value. Can also be set via motor constructor, where you can specify KV in RPM/V.
+motor.phase_inductance | NOT SET | motor inductance, in H. Units Henry. Can also be set via motor constructor.
 motor.voltage_limit | 12V | Global voltage limit. Limits Q-axis voltage.
 motor.current_limit | 2A | Global current limit. Limits Q-axis current.
 motor.velocity_limit | 20rad/s | Global velocity limit. Value in rad/s.
diff --git a/docs/simplefoc_library/hardware/mcus/index.md b/docs/simplefoc_library/hardware/mcus/index.md
@@ -18,7 +18,7 @@ Arduino <span class="simple">Simple<span class="foc">FOC</span>library</span> su
 - [ESP32 and ESP8266](esp_mcu)
 - [Teensy](teensy_mcu)
 - [SAMD21/SAMD51](samd_mcu)
-- [Raspberry Pi Pico](rpi_mcu) - *initial support*
+- [Raspberry Pi Pico](rpi_mcu)
 - [Portenta H7](portenta_mcu) - *initial support*
 - [nRF52](nrf52_mcu) - *initial support*
 
diff --git a/docs/simplefoc_library/hardware/mcus/rpi_pico.md b/docs/simplefoc_library/hardware/mcus/rpi_pico.md
@@ -23,7 +23,7 @@ Arduino <span class="simple">Simple<span class="foc">FOC</span>library</span> re
 
 
 <blockquote class="warning"> <p class="heading">BEWARE: limitations of the current implementation ⚠️</p>
-Raspberry Pi Pico has only the early stage of support. The PWM features work well and have been tested and most of the sensors will work well! 
+Raspberry Pi Pico's ADC features are not sufficient for low-side current sensing, but inline current sensing is supported. Current sensing is recently developed, and not well tested.
 </blockquote>
 
 ## Arduino IDE support package
diff --git a/docs/simplefoc_library/hardware/mcus/stm32.md b/docs/simplefoc_library/hardware/mcus/stm32.md
@@ -16,7 +16,7 @@ MCU | 2 PWM mode | 4PWM mode | 3 PWM mode | 6 PWM mode | pwm frequency config
 --- | --- |--- |--- |--- |--- 
 stm32 | ✔️ | ✔️ | ✔️ | ✔️ | ✔️
 
-Stm32 devices have full coagulability using the <span class="simple">Simple<span class="foc">FOC</span>library</span> and will work with all driver types.
+Stm32 devices have full compatibility using the <span class="simple">Simple<span class="foc">FOC</span>library</span> and will work with all driver types.
 
 Arduino <span class="simple">Simple<span class="foc">FOC</span>library</span> will support most of the stm32 boards out there. Stm32 boards are very powerful and they are the most common choice for implementing motion control applications. Here are two most commonly used families of boards with this library. 
 
