library source updated with stepper motors

Author: askuric

library_source/BLDCMotor.cpp

@@ -7,68 +7,16 @@
 #define BLDCMotor_h
 
 #include "Arduino.h"
-#include "FOCutils.h"
-#include "Sensor.h"
-#include "defaults.h"
-
-
-#define NOT_SET -12345.0
-
-/**
- *  Motiron control type
- */
-enum ControlType{
-  voltage,//!< Torque control using voltage
-  velocity,//!< Velocity motion control
-  angle,//!< Position/angle motion control
-  velocity_openloop,
-  angle_openloop
-};
-
-/**
- *  FOC modulation type
- */
-enum FOCModulationType{
-  SinePWM, //!< Sinusoidal PWM modulation
-  SpaceVectorPWM //!< Space vector modulation method
-};
-
-/**
- *  PID controller structure
- */
-struct PID_s{
-  float P; //!< Proportional gain 
-  float I; //!< Integral gain 
-  float D; //!< Derivative gain 
-  long timestamp;  //!< Last execution timestamp
-  float integral_prev;  //!< last integral component value
-  float output_prev;  //!< last pid output value
-  float output_ramp;  //!< Maximum speed of change of the output value
-  float tracking_error_prev;  //!< last tracking error value
-};
-
-// P controller structure
-struct P_s{
-  float P; //!< Proportional gain 
-  long timestamp; //!< Last execution timestamp
-};
-
-/**
- *  Low pass filter structure
- */
-struct LPF_s{
-  float Tf; //!< Low pass filter time constant
-  long timestamp; //!< Last execution timestamp
-  float prev; //!< filtered value in previous execution step 
-};
-
-
-
+#include "common/FOCMotor.h"
+#include "common/foc_utils.h"
+#include "common/hardware_utils.h"
+#include "common/Sensor.h"
+#include "common/defaults.h"
 
 /**
  BLDC motor class
 */
-class BLDCMotor
+class BLDCMotor: public FOCMotor
 {
   public:
     /**
@@ -89,22 +37,9 @@ class BLDCMotor
     /** Motor enable function */
     void enable();
 
-    /**
-     * Function linking a motor and a sensor 
-     * 
-     * @param sensor Sensor class  wrapper for the FOC algorihtm to read the motor angle and velocity
-     */
-    void linkSensor(Sensor* sensor);
-
     /**
      * Function initializing FOC algorithm
      * and aligning sensor's and motors' zero position 
-     * 
-     * - If zero_electric_offset parameter is set the alignment procedure is skipped
-     * 
-     * @param zero_electric_offset value of the sensors absolute position electrical offset in respect to motor's electrical 0 position.
-     * @param sensor_direction  sensor natural direction - default is CW
-     *
      */  
     int initFOC( float zero_electric_offset = NOT_SET , Direction sensor_direction = Direction::CW); 
     /**
@@ -114,6 +49,7 @@ class BLDCMotor
      * - the faster you can run it the better Arduino UNO ~1ms, Bluepill ~ 100us
      */ 
     void loopFOC();
+
     /**
      * Function executing the control loops set by the controller parameter of the BLDCMotor.
      * 
@@ -130,53 +66,8 @@ class BLDCMotor
   	int pwmC; //!< phase C pwm pin number
     int enable_pin; //!< enable pin number
 
-  
-
-
-    // State calculation methods 
-    /** Shaft angle calculation in radians [rad] */
-    float shaftAngle();
-    /** 
-     * Shaft angle calculation function in radian per second [rad/s]
-     * It implements low pass filtering
-     */
-    float shaftVelocity();
-
-    // state variables
-    float target; //!< current target value - depends of the controller
-  	float shaft_angle;//!< current motor angle
-  	float shaft_velocity;//!< current motor velocity 
-    float shaft_velocity_sp;//!< current target velocity
-    float shaft_angle_sp;//!< current target angle
-    float voltage_q;//!< current voltage u_q set
-    float Ua,Ub,Uc;//!< Current phase voltages Ua,Ub and Uc set to motor
-
-    // motor configuration parameters
-    float voltage_power_supply;//!< Power supply voltage
-    float voltage_sensor_align;//!< sensor and motor align voltage parameter
-    float velocity_index_search;//!< target velocity for index search 
-    int pole_pairs;//!< Motor pole pairs number
-
-    // limiting variables
-    float voltage_limit; //!< Voltage limitting variable - global limit
-    float velocity_limit; //!< Velocity limitting variable - global limit
-
-    // configuration structures
-    ControlType controller; //!< parameter determining the control loop to be used
-    FOCModulationType foc_modulation;//!<  parameter derterniming modulation algorithm
-    PID_s PID_velocity;//!< parameter determining the velocity PI configuration
-    P_s P_angle;	//!< parameter determining the position P configuration 
-    LPF_s LPF_velocity;//!<  parameter determining the velocity Lpw pass filter configuration 
-
-    /** 
-      * Sensor link:
-      * - Encoder 
-      * - MagneticSensor
-    */
-    Sensor* sensor; 
-
-    float zero_electric_angle;//!<absolute zero electric angle - if available
 
+  private:
     // FOC methods 
     /**
     * Method using FOC to set Uq to the motor at the optimal angle
@@ -186,77 +77,10 @@ class BLDCMotor
     * @param angle_el current electrical angle of the motor
     */
     void setPhaseVoltage(float Uq, float angle_el);
-
-    // monitoring functions
-    Print* monitor_port; //!< Serial terminal variable if provided
-    /**
-     * Function providing BLDCMotor class with the 
-     * Serial interface and enabling monitoring mode
-     * 
-     * @param serial Monitoring Serial class reference
-     */
-    void useMonitoring(Print &serial);
-    /**
-     * Utility function intended to be used with serial plotter to monitor motor variables
-     * significantly slowing the execution down!!!!
-     */
-    void monitor();
-
-     /**
-     * Function setting the configuration parameters  of the motor, target value of the control loop
-     * and outputing them to the monitoring port( if available ) :
-     * - configure PID controller constants
-     * - change motion control loops
-     * - monitor motor variabels
-     * - set target values
-     * - check all the configuration values 
-     * 
-     * To check the config value just enter the command letter.
-     * For example: 
-     * - to read velocity PI controller P gain run: P
-     * - to set velocity PI controller P gain  to 1.2 run: P1.2
-     * 
-     * To change the target value just enter a number in the terminal:
-     * For example: 
-     * - to change the target value to -0.1453 enter: -0.1453
-     * - to get the current target value enter: V3 
-     * 
-     * List of commands:
-     *  - P: velocity PI controller P gain
-     *  - I: velocity PI controller I gain
-     *  - L: velocity PI controller voltage limit
-     *  - R: velocity PI controller voltage ramp
-     *  - F: velocity Low pass filter time constant
-     *  - K: angle P controller P gain
-     *  - N: angle P controller velocity limit
-     *  - C: control loop 
-     *    - 0: voltage 
-     *    - 1: velocity 
-     *    - 2: angle
-     *  - V: get motor variables
-     *    - 0: currently set voltage
-     *    - 1: current velocity
-     *    - 2: current angle
-     *    - 3: current target value
-     *
-     * - Look into the documentation (docs.simplefoc.com) for more information.
-     * 
-     * @param command String containing the user command
-     * 
-     * returns 0 for error or 1 for executed command
-     */
-    int command(String command);
-    
-
-  private:
     /** Sensor alignment to electrical 0 angle of the motor */
     int alignSensor();
     /** Motor and sensor alignment to the sensors absolute 0 angle  */
     int absoluteZeroAlign();
-    
-    /** Electrical angle calculation  */
-    float electricAngle(float shaftAngle);
-
     /** 
      * Set phase voltages to the harware 
      * 
@@ -266,33 +90,6 @@ class BLDCMotor
     */
     void setPwm(float Ua, float Ub, float Uc);
 
-    // Utility functions 
-    /** normalizing radian angle to [0,2PI]  */
-    float normalizeAngle(float angle);
-    /** determining if the enable pin has been provided  */
-    int hasEnable();
-    
-    /**
-     * Low pass filter function - iterative
-     * @param input  - singal to be filtered
-     * @param lpf    - LPF_s structure with filter parameters 
-     */
-    float lowPassFilter(float input, LPF_s& lpf);
-    
-    // Motion control functions 
-    /**
-     * Generic PI controller function executing one step of a controller 
-     * receives tracking error and PID_s structure and outputs the control signal
-     * 
-     * @param tracking_error Current error in between target value and mesasured value
-     * @param controller PID_s structure containing all the necessary PI controller config and variables
-     */
-    float controllerPID(float tracking_error, PID_s &controller);
-    /** Velocity PI controller implementation */
-    float velocityPID(float tracking_error);
-    /**  Position P controller implementation */
-    float positionP(float ek);
-
     // Open loop motion control    
     /**
      * Function (iterative) generating open loop movement for target velocity
@@ -308,15 +105,8 @@ class BLDCMotor
      * @param target_angle - rad
      */
     void angleOpenloop(float target_angle);
-
-    
-    // phase voltages 
-    float	Ualpha,Ubeta; //!< Phase voltages U alpha and U beta used for inverse Park and Clarke transform
-
-
     // open loop variables
     long open_loop_timestamp;
-
 };
 
 

library_source/BLDCMotor.h

@@ -2,8 +2,9 @@
 #define ENCODER_LIB_H
 
 #include "Arduino.h"
-#include "FOCutils.h"
-#include "Sensor.h"
+#include "common/foc_utils.h"
+#include "common/hardware_utils.h"
+#include "common/Sensor.h"
 
 
 /**

library_source/Encoder.h

@@ -2,8 +2,9 @@
 #define HALL_SENSOR_LIB_H
 
 #include "Arduino.h"
-#include "FOCutils.h"
-#include "Sensor.h"
+#include "common/foc_utils.h"
+#include "common/hardware_utils.h"
+#include "common/Sensor.h"
 
 
 class HallSensor: public Sensor{
@@ -12,7 +13,7 @@ class HallSensor: public Sensor{
     HallSensor class constructor
     @param encA  HallSensor B pin
     @param encB  HallSensor B pin
-    @param encC  HallSensor B pin
+    @param encC  HallSensor C pin
     @param pp  pole pairs  (e.g hoverboard motor has 15pp and small gimbals often have 7pp)
     @param index index pin number (optional input)
     */

library_source/HallSensor.h

@@ -2,9 +2,9 @@
 #define MAGNETICSENSORANALOG_LIB_H
 
 #include "Arduino.h"
-#include <Wire.h>
-#include "FOCutils.h"
-#include "Sensor.h"
+#include "common/foc_utils.h"
+#include "common/hardware_utils.h"
+#include "common/Sensor.h"
 
 /**
  * This sensor has been tested with AS5600 running in 'analog mode'.  This is where output pin of AS6000 is connected to an analog pin on your microcontroller.
@@ -15,7 +15,8 @@ class MagneticSensorAnalog: public Sensor{
     /**
      * MagneticSensorAnalog class constructor
      * @param _pinAnalog  the pin to read the PWM signal
-     * @param _pinAnalog  the pin to read the PWM signal
+     * @param _min  minimal value of angle reading
+     * @param _max  maximal value of angle reading
      */
     MagneticSensorAnalog(uint8_t _pinAnalog, int _min = 0, int _max = 0);
 

library_source/MagneticSensorAnalog.h

@@ -3,8 +3,9 @@
 
 #include "Arduino.h"
 #include <Wire.h>
-#include "FOCutils.h"
-#include "Sensor.h"
+#include "common/foc_utils.h"
+#include "common/hardware_utils.h"
+#include "common/Sensor.h"
 
 
 class MagneticSensorI2C: public Sensor{

library_source/MagneticSensorI2C.h

@@ -3,8 +3,9 @@
 
 #include "Arduino.h"
 #include <SPI.h>
-#include "FOCutils.h"
-#include "Sensor.h"
+#include "common/foc_utils.h"
+#include "common/hardware_utils.h"
+#include "common/Sensor.h"
 
 #define DEF_ANGLE_REGISTAR 0x3FFF