Merge branch 'KaSroka-use_float_consts' into dev

Author: askuric

examples/hardware_specific_examples/Bluepill_examples/encoder/bluepill_position_control/bluepill_position_control.ino

@@ -1,9 +1,9 @@
 /**
- * 
+ *
  * STM32 Bluepill position motion control example with encoder
- * 
+ *
  * The same example can be ran with any STM32 board - just make sure that put right pin numbers.
- * 
+ *
  */
 #include <SimpleFOC.h>
 
@@ -32,10 +32,10 @@ void doTarget(char* cmd) { command.scalar(&target_angle, cmd); }
 
 
 void setup() {
-  
+
   // initialize encoder sensor hardware
   encoder.init();
-  encoder.enableInterrupts(doA, doB, doI); 
+  encoder.enableInterrupts(doA, doB, doI);
   // link the motor to the sensor
   motor.linkSensor(&encoder);
 
@@ -54,32 +54,32 @@ void setup() {
   // set motion control loop to be used
   motor.controller = MotionControlType::velocity;
 
-  // contoller configuration 
+  // contoller configuration
   // default parameters in defaults.h
 
   // velocity PI controller parameters
-  motor.PID_velocity.P = 0.2;
+  motor.PID_velocity.P = 0.2f;
   motor.PID_velocity.I = 20;
   // default voltage_power_supply
   motor.voltage_limit = 6;
   // jerk control using voltage voltage ramp
   // default value is 300 volts per sec  ~ 0.3V per millisecond
   motor.PID_velocity.output_ramp = 1000;
- 
+
   // velocity low pass filtering time constant
-  motor.LPF_velocity.Tf = 0.01;
+  motor.LPF_velocity.Tf = 0.01f;
 
   // angle P controller
   motor.P_angle.P = 20;
   //  maximal velocity of the position control
   motor.velocity_limit = 4;
 
 
-  // use monitoring with serial 
+  // use monitoring with serial
   Serial.begin(115200);
   // comment out if not needed
   motor.useMonitoring(Serial);
-  
+
   // initialize motor
   motor.init();
   // align encoder and start FOC
@@ -97,7 +97,7 @@ void loop() {
   // main FOC algorithm function
   // the faster you run this function the better
   // Arduino UNO loop  ~1kHz
-  // Bluepill loop ~10kHz 
+  // Bluepill loop ~10kHz
   motor.loopFOC();
 
   // Motion control function
@@ -109,7 +109,7 @@ void loop() {
   // function intended to be used with serial plotter to monitor motor variables
   // significantly slowing the execution down!!!!
   // motor.monitor();
-  
+
   // user communication
   command.run();
 }

examples/hardware_specific_examples/Bluepill_examples/magnetic_sensor/bluepill_position_control/bluepill_position_control.ino

@@ -1,9 +1,9 @@
 /**
- * 
+ *
  * STM32 Bluepill position motion control example with magnetic sensor
- * 
+ *
  * The same example can be ran with any STM32 board - just make sure that put right pin numbers.
- * 
+ *
  */
 #include <SimpleFOC.h>
 
@@ -47,37 +47,37 @@ void setup() {
   driver.init();
   // link the motor and the driver
   motor.linkDriver(&driver);
-  
+
   // choose FOC modulation (optional)
   motor.foc_modulation = FOCModulationType::SpaceVectorPWM;
 
   // set motion control loop to be used
   motor.controller = MotionControlType::angle;
 
-  // contoller configuration 
+  // contoller configuration
   // default parameters in defaults.h
 
   // velocity PI controller parameters
-  motor.PID_velocity.P = 0.2;
+  motor.PID_velocity.P = 0.2f;
   motor.PID_velocity.I = 20;
   // maximal voltage to be set to the motor
   motor.voltage_limit = 6;
-  
+
   // velocity low pass filtering time constant
   // the lower the less filtered
-  motor.LPF_velocity.Tf = 0.01;
+  motor.LPF_velocity.Tf = 0.01f;
 
-  // angle P controller 
+  // angle P controller
   motor.P_angle.P = 20;
   // maximal velocity of the position control
   motor.velocity_limit = 40;
 
-  // use monitoring with serial 
+  // use monitoring with serial
   Serial.begin(115200);
   // comment out if not needed
   motor.useMonitoring(Serial);
 
-  
+
   // initialize motor
   motor.init();
   // align sensor and start FOC
@@ -99,7 +99,7 @@ void loop() {
   // main FOC algorithm function
   // the faster you run this function the better
   // Arduino UNO loop  ~1kHz
-  // Bluepill loop ~10kHz 
+  // Bluepill loop ~10kHz
   motor.loopFOC();
 
   // Motion control function
@@ -112,7 +112,7 @@ void loop() {
   // function intended to be used with serial plotter to monitor motor variables
   // significantly slowing the execution down!!!!
   // motor.monitor();
-  
+
   // user communication
   command.run();
 }

examples/hardware_specific_examples/DRV8302_driver/3pwm_example/encoder/full_control_serial/full_control_serial.ino

@@ -1,15 +1,15 @@
 /**
  * Comprehensive BLDC motor control example using encoder and the DRV8302 board
- * 
+ *
  * Using serial terminal user can send motor commands and configure the motor and FOC in real-time:
  * - configure PID controller constants
  * - change motion control loops
  * - monitor motor variabels
  * - set target values
- * - check all the configuration values 
- * 
+ * - check all the configuration values
+ *
  * check the https://docs.simplefoc.com for full list of motor commands
- * 
+ *
  */
 #include <SimpleFOC.h>
 
@@ -20,7 +20,7 @@
 #define INH_C 11
 
 #define EN_GATE 7
-#define M_PWM A1 
+#define M_PWM A1
 #define M_OC A2
 #define OC_ADJ A3
 
@@ -45,7 +45,7 @@ void setup() {
 
   // initialize encoder sensor hardware
   encoder.init();
-  encoder.enableInterrupts(doA, doB); 
+  encoder.enableInterrupts(doA, doB);
   // link the motor to the sensor
   motor.linkSensor(&encoder);
 
@@ -76,14 +76,14 @@ void setup() {
   // set control loop type to be used
   motor.controller = MotionControlType::torque;
 
-  // contoller configuration based on the controll type 
-  motor.PID_velocity.P = 0.2;
+  // contoller configuration based on the controll type
+  motor.PID_velocity.P = 0.2f;
   motor.PID_velocity.I = 20;
   // default voltage_power_supply
   motor.voltage_limit = 12;
 
   // velocity low pass filtering time constant
-  motor.LPF_velocity.Tf = 0.01;
+  motor.LPF_velocity.Tf = 0.01f;
 
   // angle loop controller
   motor.P_angle.P = 20;
@@ -111,7 +111,7 @@ void setup() {
   Serial.println(F("Run user commands to configure and the motor (find the full command list in docs.simplefoc.com) \n "));
   Serial.println(F("Initial motion control loop is voltage loop."));
   Serial.println(F("Initial target voltage 2V."));
-  
+
   _delay(1000);
 }
 

examples/hardware_specific_examples/DRV8302_driver/6pwm_example/encoder/full_control_serial/full_control_serial.ino

@@ -1,15 +1,15 @@
 /**
  * Comprehensive BLDC motor control example using encoder and the DRV8302 board
- * 
+ *
  * Using serial terminal user can send motor commands and configure the motor and FOC in real-time:
  * - configure PID controller constants
  * - change motion control loops
  * - monitor motor variabels
  * - set target values
- * - check all the configuration values 
- * 
+ * - check all the configuration values
+ *
  * check the https://docs.simplefoc.com for full list of motor commands
- * 
+ *
  */
 #include <SimpleFOC.h>
 
@@ -23,7 +23,7 @@
 #define INL_C 10
 
 #define EN_GATE 7
-#define M_PWM A1 
+#define M_PWM A1
 #define M_OC A2
 #define OC_ADJ A3
 
@@ -48,7 +48,7 @@ void setup() {
 
   // initialize encoder sensor hardware
   encoder.init();
-  encoder.enableInterrupts(doA, doB); 
+  encoder.enableInterrupts(doA, doB);
   // link the motor to the sensor
   motor.linkSensor(&encoder);
 
@@ -77,14 +77,14 @@ void setup() {
   // set control loop type to be used
   motor.controller = MotionControlType::torque;
 
-  // contoller configuration based on the controll type 
-  motor.PID_velocity.P = 0.2;
+  // contoller configuration based on the controll type
+  motor.PID_velocity.P = 0.2f;
   motor.PID_velocity.I = 20;
   // default voltage_power_supply
   motor.voltage_limit = 12;
 
   // velocity low pass filtering time constant
-  motor.LPF_velocity.Tf = 0.01;
+  motor.LPF_velocity.Tf = 0.01f;
 
   // angle loop controller
   motor.P_angle.P = 20;
@@ -112,7 +112,7 @@ void setup() {
   Serial.println(F("Run user commands to configure and the motor (find the full command list in docs.simplefoc.com) \n "));
   Serial.println(F("Initial motion control loop is voltage loop."));
   Serial.println(F("Initial target voltage 2V."));
-  
+
   _delay(1000);
 }
 

examples/hardware_specific_examples/ESP32/encoder/esp32_position_control/esp32_position_control.ino

@@ -1,4 +1,4 @@
-/** 
+/**
  * ESP32 position motion control example with encoder
  *
  */
@@ -23,14 +23,14 @@ Commander command = Commander(Serial);
 void doTarget(char* cmd) { command.scalar(&target_angle, cmd); }
 
 void setup() {
-  
+
   // initialize encoder sensor hardware
   encoder.init();
-  encoder.enableInterrupts(doA, doB); 
+  encoder.enableInterrupts(doA, doB);
 
   // link the motor to the sensor
   motor.linkSensor(&encoder);
-  
+
   // driver config
   // power supply voltage [V]
   driver.voltage_power_supply = 12;
@@ -46,32 +46,32 @@ void setup() {
   // set motion control loop to be used
   motor.controller = MotionControlType::velocity;
 
-  // contoller configuration 
+  // contoller configuration
   // default parameters in defaults.h
 
   // velocity PI controller parameters
-  motor.PID_velocity.P = 0.2;
+  motor.PID_velocity.P = 0.2f;
   motor.PID_velocity.I = 20;
   // default voltage_power_supply
   motor.voltage_limit = 6;
   // jerk control using voltage voltage ramp
   // default value is 300 volts per sec  ~ 0.3V per millisecond
   motor.PID_velocity.output_ramp = 1000;
- 
+
   // velocity low pass filtering time constant
-  motor.LPF_velocity.Tf = 0.01;
+  motor.LPF_velocity.Tf = 0.01f;
 
   // angle P controller
   motor.P_angle.P = 20;
   //  maximal velocity of the position control
   motor.velocity_limit = 4;
 
 
-  // use monitoring with serial 
+  // use monitoring with serial
   Serial.begin(115200);
   // comment out if not needed
   motor.useMonitoring(Serial);
-  
+
   // initialize motor
   motor.init();
   // align encoder and start FOC
@@ -92,7 +92,7 @@ void loop() {
   // main FOC algorithm function
   // the faster you run this function the better
   // Arduino UNO loop  ~1kHz
-  // Bluepill loop ~10kHz 
+  // Bluepill loop ~10kHz
   motor.loopFOC();
 
   // Motion control function
@@ -104,7 +104,7 @@ void loop() {
   // function intended to be used with serial plotter to monitor motor variables
   // significantly slowing the execution down!!!!
   // motor.monitor();
-  
+
   // user communication
   command.run();
 }