FEAT separated minimal arudino example magnetic and encoder

Author: askuric

README.md

@@ -2,8 +2,6 @@
 #define BLDCMotor_h
 
 #include "Arduino.h"
-#include "MagneticSensor.h"
-#include "Encoder.h"
 #include "FOCutils.h"
 #include "Sensor.h"
 

arduino_foc_minimal/BLDCMotor.cpp renamed to arduino_foc_minimal_encoder/BLDCMotor.cpp

@@ -0,0 +1,9 @@
+#ifndef SIMPLEFOC_H
+#define SIMPLEFOC_H
+
+#include "FOCutils.h"
+#include "Sensor.h"
+#include "Encoder.h"
+#include "BLDCMotor.h"
+
+#endif

arduino_foc_minimal/BLDCMotor.h renamed to arduino_foc_minimal_encoder/BLDCMotor.h

@@ -0,0 +1,175 @@
+#include "SimpleFOC.h"
+
+//  BLDCMotor( int phA, int phB, int phC, int pp, int en)
+//  - phA, phB, phC - motor A,B,C phase pwm pins
+//  - pp            - pole pair number
+//  - enable pin    - (optional input)
+BLDCMotor motor = BLDCMotor(9, 10, 11, 11);
+
+//Encoder(int encA, int encB , int cpr, int index)
+//    - encA, encB    - encoder A and B pins
+//    - ppr           - impulses per rotation  (cpr=ppr*4)
+//    - index pin     - (optional input)
+Encoder encoder = Encoder(2, 3, 2048);
+// interrupt ruotine intialisation
+void doA(){encoder.handleA();}
+void doB(){encoder.handleB();}
+
+void setup() { 
+  // debugging port
+  Serial.begin(115200);
+
+  // initialise encoder sensor hardware
+  encoder.init();
+  encoder.enableInterrupts(doA,doB);
+
+  // power supply voltage
+  // default 12V
+  motor.voltage_power_supply = 12;
+  
+  // set control loop type to be used
+  // ControlType::voltage
+  // ControlType::velocity
+  // ControlType::angle
+  motor.controller = ControlType::angle;
+
+  // contoller configuration based on the controll type 
+  // velocity PI controller parameters
+  motor.PI_velocity.P = 0.2;
+  motor.PI_velocity.I = 20;
+  //defualt voltage_power_supply/2
+  motor.PI_velocity.voltage_limit = 6;
+  // jerk control using voltage voltage ramp
+  // default value is 300 volts per sec  ~ 0.3V per millisecond
+  motor.PI_velocity.voltage_ramp = 1000;
+
+  // velocity low pass filtering
+  // default 10ms - try different values to see what is the best. 
+  // the lower the less filtered
+  motor.LPF_velocity.Tf = 0.0;
+
+  // angle loop controller
+  motor.P_angle.P = 3;
+  motor.P_angle.velocity_limit = 10;
+
+  // link the motor to the sensor
+  motor.linkSensor(&encoder);
+
+  // use debugging with serial for motor init
+  // comment out if not needed
+  motor.useDebugging(Serial);
+
+  // intialise motor
+  motor.init();
+  // align encoder and start FOC
+  motor.initFOC();
+
+  // this serial print takes around 20% of arduino memory!
+  Serial.println("\n\n");
+  Serial.println("PI controller parameters change:");
+  Serial.println("- P value : Prefix P (ex. P0.1)");
+  Serial.println("- I value : Prefix I (ex. I0.1)\n");
+  Serial.println("Velocity filter:");
+  Serial.println("- Tf value : Prefix F (ex. F0.001)\n");
+  Serial.println("Average loop execution time:");
+  Serial.println("- Type T\n");
+  Serial.println("Control loop type:");
+  Serial.println("- C0 - angle control");
+  Serial.println("- C1 - velocity control");
+  Serial.println("- C2 - voltage control\n");
+  Serial.println("Initial parameters:");
+  Serial.print("PI velocity P: ");
+  Serial.print(motor.PI_velocity.P);
+  Serial.print(",\t I: ");
+  Serial.print(motor.PI_velocity.I);
+  Serial.print(",\t Low passs filter Tf: ");
+  Serial.println(motor.LPF_velocity.Tf,4);
+  
+  _delay(1000);
+}
+
+// target velocity variable
+float target = 0;
+// loop stats variables
+unsigned long  t = 0;
+long timestamp = _micros();
+
+void loop() {
+  // iterative setting FOC pahse voltage
+  motor.loopFOC();
+
+  // iterative function setting the outter loop target
+  // velocity, position or voltage
+  motor.move(target);
+
+  // keep track of loop number
+  t++;
+}
+
+// Serial communication callback
+void serialEvent() {
+  // a string to hold incoming data
+  static String inputString;
+  while (Serial.available()) {
+    // get the new byte:
+    char inChar = (char)Serial.read();
+    // add it to the inputString:
+    inputString += inChar;
+    // if the incoming character is a newline
+    // end of input
+    if (inChar == '\n') {
+      if(inputString.charAt(0) == 'P'){
+        motor.PI_velocity.P = inputString.substring(1).toFloat();
+        Serial.print("PI velocity P: ");
+        Serial.print(motor.PI_velocity.P);
+        Serial.print(",\t I: ");
+        Serial.print(motor.PI_velocity.I);
+        Serial.print(",\t Low passs filter Tf: ");
+        Serial.println(motor.LPF_velocity.Tf,4);
+      }else if(inputString.charAt(0) == 'I'){
+        motor.PI_velocity.I = inputString.substring(1).toFloat();
+        Serial.print("PI velocity P: ");
+        Serial.print(motor.PI_velocity.P);
+        Serial.print(",\t I: ");
+        Serial.print(motor.PI_velocity.I);
+        Serial.print(",\t Low passs filter Tf: ");
+        Serial.println(motor.LPF_velocity.Tf,4);
+      }else if(inputString.charAt(0) == 'F'){
+        motor.LPF_velocity.Tf = inputString.substring(1).toFloat();
+        Serial.print("PI velocity P: ");
+        Serial.print(motor.PI_velocity.P);
+        Serial.print(",\t I: ");
+        Serial.print(motor.PI_velocity.I);
+        Serial.print(",\t Low passs filter Tf: ");
+        Serial.println(motor.LPF_velocity.Tf,4);
+      }else if(inputString.charAt(0) == 'T'){
+        Serial.print("Average loop time is (microseconds): ");
+        Serial.println((_micros() - timestamp)/t);
+        t = 0;
+        timestamp = _micros();
+      }else if(inputString.charAt(0) == 'C'){
+        Serial.print("Contoller type: ");
+        int cnt = inputString.substring(1).toFloat();
+        if(cnt == 0){
+          Serial.println("angle!");
+          motor.controller = ControlType::angle;
+        }else if(cnt == 1){
+          Serial.println("velocity!");
+          motor.controller = ControlType::velocity;
+        }else if(cnt == 2){
+          Serial.println("volatge!");
+          motor.controller = ControlType::voltage;
+        }
+        Serial.println();
+        t = 0;
+        timestamp = _micros();
+      }else{
+        target = inputString.toFloat();
+        Serial.print("Target : ");
+        Serial.println(target);
+        inputString = "";
+      }
+      inputString = "";
+    }
+  }
+}