added some examples

Author: askuric

minimal_project_examples/arduino_foc_minimal_encoder/arduino_foc_minimal_encoder.ino

@@ -36,20 +36,20 @@
  *    - 3: current target value
  *
  */
-#include "BLDCMotor.h"
-#include "Encoder.h"
+#include "src/StepperMotor.h"
+#include "src/Encoder.h"
 
 // motor instance
-BLDCMotor motor = BLDCMotor(9, 10, 11, 11, 7);
-
+StepperMotor motor = StepperMotor(10, 6, 5, 9, 50, 8);
+//
 // encoder instance
-Encoder encoder = Encoder(2, 3, 8192);
+Encoder encoder = Encoder(2,3, 2048);
 
 // Interrupt routine intialisation
 // channel A and B callbacks
 void doA(){encoder.handleA();}
 void doB(){encoder.handleB();}
-
+    
 void setup() {
 
   // initialize encoder sensor hardware
@@ -58,14 +58,12 @@ void setup() {
   // 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;
+  motor.voltage_sensor_align = 10;
 
   // set control loop type to be used
-  motor.controller = ControlType::voltage;
+  motor.controller = ControlType::velocity;
 
   // contoller configuration based on the controll type 
   motor.PID_velocity.P = 0.2;
@@ -142,4 +140,4 @@ String serialReceiveUserCommand() {
     }
   }
   return command;
-}
+}

minimal_project_examples/arduino_foc_minimal_encoder/Encoder.cpp renamed to minimal_project_examples/arduino_foc_minimal_encoder/src/Encoder.cpp

@@ -0,0 +1,105 @@
+#ifndef ENCODER_LIB_H
+#define ENCODER_LIB_H
+
+#include "Arduino.h"
+#include "common/foc_utils.h"
+#include "common/hardware_utils.h"
+#include "common/Sensor.h"
+
+
+/**
+ *  Quadrature mode configuration structure
+ */
+enum Quadrature{
+  ON, //!<  Enable quadrature mode CPR = 4xPPR
+  OFF //!<  Disable quadrature mode / CPR = PPR
+};
+
+class Encoder: public Sensor{
+ public:
+    /**
+    Encoder class constructor
+    @param encA  encoder B pin
+    @param encB  encoder B pin
+    @param ppr  impulses per rotation  (cpr=ppr*4)
+    @param index index pin number (optional input)
+    */
+    Encoder(int encA, int encB , float ppr, int index = 0);
+
+    /** encoder initialise pins */
+    void init();
+    /**
+     *  function enabling hardware interrupts for the encoder channels with provided callback functions
+     *  if callback is not provided then the interrupt is not enabled
+     * 
+     * @param doA pointer to the A channel interrupt handler function
+     * @param doB pointer to the B channel interrupt handler function
+     * @param doIndex pointer to the Index channel interrupt handler function
+     * 
+     */
+    void enableInterrupts(void (*doA)() = nullptr, void(*doB)() = nullptr, void(*doIndex)() = nullptr);
+    
+    //  Encoder interrupt callback functions
+    /** A channel callback function */
+    void handleA();
+    /** B channel callback function */
+    void handleB();
+    /** Index channel callback function */
+    void handleIndex();
+    
+    
+    // pins A and B
+    int pinA; //!< encoder hardware pin A
+    int pinB; //!< encoder hardware pin B
+    int index_pin; //!< index pin
+
+    // Encoder configuration
+    Pullup pullup; //!< Configuration parameter internal or external pullups
+    Quadrature quadrature;//!< Configuration parameter enable or disable quadrature mode
+    float cpr;//!< encoder cpr number
+
+    // Abstract functions of the Sensor class implementation
+    /** get current angle (rad) */
+    float getAngle();
+    /**  get current angular velocity (rad/s) */
+    float getVelocity();
+    /** 
+     *  set current angle as zero angle 
+     * return the angle [rad] difference
+     */
+    float initRelativeZero();
+    /**
+     * set index angle as zero angle
+     * return the angle [rad] difference
+     */
+    float initAbsoluteZero();
+    /**
+     *  returns 0 if it has no index 
+     * 0 - encoder without index
+     * 1 - encoder with index 
+     */
+    int hasAbsoluteZero();
+    /**
+     * returns 0 if it does need search for absolute zero
+     * 0 - encoder without index 
+     * 1 - ecoder with index
+     */
+    int needsAbsoluteZeroSearch();
+
+  private:
+    int hasIndex(); //!< function returning 1 if encoder has index pin and 0 if not.
+
+    volatile long pulse_counter;//!< current pulse counter
+    volatile long pulse_timestamp;//!< last impulse timestamp in us
+    volatile int A_active; //!< current active states of A channel
+    volatile int B_active; //!< current active states of B channel
+    volatile int I_active; //!< current active states of Index channel
+    volatile long index_pulse_counter; //!< impulse counter number upon first index interrupt
+
+    // velocity calculation variables
+    float prev_Th, pulse_per_second;
+    volatile long prev_pulse_counter, prev_timestamp_us;
+};
+
+
+#endif