typos and SPI freq to 10Mhz

Author: askuric

arduino_foc_minimal/MagneticSensor.cpp

@@ -17,8 +17,8 @@ MagneticSensor::MagneticSensor(int cs, float _cpr, int _angle_register){
 
 
 void MagneticSensor::init(){
-	// 1MHz clock (AMS should be able to accept up to 10MHz)
-	settings = SPISettings(1000000, MSBFIRST, SPI_MODE1);
+	// 10MHz clock (AMS should be able to accept up to 10MHz)
+	settings = SPISettings(10000000, MSBFIRST, SPI_MODE1);
 
 	//setup pins
 	pinMode(chip_select_pin, OUTPUT);

arduino_foc_minimal/arduino_foc_minimal.ino

@@ -9,17 +9,17 @@
 //  - enable pin    - (optional input)
 BLDCMotor motor = BLDCMotor(9, 10, 11, 11);
 
-// // MagneticSensor(int cs, float _cpr, int _angle_register)
-// //  cs              - SPI chip select pin 
-// //  _cpr            - counts per revolution 
-// // _angle_register  - (optional) angle read register - default 0x3FFF
-// MagneticSensor AS5x4x = MagneticSensor(10, 16384, 0x3FFF);
+// MagneticSensor(int cs, float _cpr, int _angle_register)
+//  cs              - SPI chip select pin 
+//  _cpr            - counts per revolution 
+// _angle_register  - (optional) angle read register - default 0x3FFF
+MagneticSensor AS5x4x = MagneticSensor(10, 16384, 0x3FFF);
 
 
-Encoder encoder = Encoder(2, 3, 8192);
-// interrupt ruotine intialisation
-void doA(){encoder.handleA();}
-void doB(){encoder.handleB();}
+// Encoder encoder = Encoder(2, 3, 8192);
+// // interrupt ruotine intialisation
+// void doA(){encoder.handleA();}
+// void doB(){encoder.handleB();}
 
 // // encoder interrupt init
 // PciListenerImp listenerA(encoder.pinA, doA);
@@ -30,9 +30,9 @@ void setup() {
   Serial.begin(115200);
 
   // initialise magnetic sensor hardware
-  // AS5x4x.init();
-  encoder.init();
-  encoder.enableInterrupts(doA,doB);
+  AS5x4x.init();
+  // encoder.init();
+  // encoder.enableInterrupts(doA,doB);
 
   // // interrupt intitialisation
   // PciManager.registerListener(&listenerA);
@@ -69,8 +69,8 @@ void setup() {
 
 
   // link the motor to the sensor
-  // motor.linkSensor(&AS5x4x);
-  motor.linkSensor(&encoder);
+  motor.linkSensor(&AS5x4x);
+  // motor.linkSensor(&encoder);
 
   // use debugging with serial for motor init
   // comment out if not needed
@@ -82,15 +82,15 @@ void setup() {
   motor.initFOC();
 
   Serial.println("Motor ready.\n");
-  Serial.println("Update all the PI contorller paramters from the serial temrinal:");
+  Serial.println("Update all the PI controller parameters from the serial terminal:");
   Serial.println("- Type P100.2 to you the PI_velocity.P in 100.2");
   Serial.println("- Type I72.32 to you the PI_velocity.I in 72.32\n");
   Serial.println("Update the time constant of the velocity filter:");
   Serial.println("- Type F0.03 to you the LPF_velocity.Tf in 0.03\n");
-  Serial.println("Check the loop executoion time (average):");
+  Serial.println("Check the loop execution time (average):");
   Serial.println("- Type T\n");
   Serial.println("Change control loop type by typing:");
-  Serial.println("- C0 - angle contro");
+  Serial.println("- C0 - angle control");
   Serial.println("- C1 - velocity control");
   Serial.println("- C2 - voltage control\n");
   Serial.println("Initial parameters:");
@@ -106,7 +106,7 @@ void setup() {
 }
 
 // target velocity variable
-float target_velocity = 0;
+float target = 0;
 // loop stats variables
 unsigned long  t = 0;
 long timestamp = _micros();
@@ -117,7 +117,7 @@ void loop() {
 
   // iterative function setting the outter loop target
   // velocity, position or voltage
-  motor.move(target_velocity);
+  motor.move(target);
 
   // keep track of loop number
   t++;
@@ -209,9 +209,9 @@ void serialEvent() {
         t = 0;
         timestamp = _micros();
       }else{
-        target_velocity = inputString.toFloat();
-        Serial.print("Tagret Velocity: ");
-        Serial.println(target_velocity);
+        target = inputString.toFloat();
+        Serial.print("Target : ");
+        Serial.println(target);
         inputString = "";
       }
       inputString = "";