This is the branch of the SimpleFOClibrary repository intended to be used to simplify the creation of the projects with minimal code possible which is specific for certain motor+sensor+driver combination.
Library source code structure
├─── library_source
| |
| ├─── common # Contains all the common utility classes and functions
| | |
| | ├─ defaults.h # default motion control parameters
| | |
| | ├─ foc_utils.cpp./h # utility functions of the FOC algorithm
| | ├─ hardware_utils.cpp./h # all the hardware specific implementations are in these files
| | ├─ pid.cpp./h # class implementing PID controller
| | ├─ lowpass_filter.cpp./h # class implementing Low pass filter
| | |
| | ├─ FOCMotor.cpp./h # common class for all implemented motors
| | └─ Sensor./h # common class for all implemented sensors
| |
| ├─ BLDCMotor.cpp/h # BLDC motor handling class
| ├─ StepperMotor.cpp/h # Stepper motor handling class
│ │
│ ├─ Encoder.cpp/h # Encoder class implementing the Quadrature encoder operations
│ ├─ MagneticSensorSPI.cpp/h # class implementing SPI communication for Magnetic sensors
│ ├─ MagneticSensorI2C.cpp/h # class implementing I2C communication for Magnetic sensors
│ ├─ MagneticSensorAnalog.cpp/h # class implementing Analog output for Magnetic sensors
└─ HallSensor.cpp/h # class implementing Hall sensor Minimal project examples provided for quick start:
├─── minimal_project_examples # Project examples
│ ├─ arduino_foc_bldc_openloop # BLDC motor + Open loop control
│ ├─ arduino_foc_bldc_encoder # BLDC motor + Encoder
│ ├─ arduino_foc_bldc_hall # BLDC motor + Hall sensors
│ ├─ arduino_foc_bldc_magnetic_i2c # BLDC motor + I2C magnetic sensor
│ ├─ arduino_foc_bldc_magnetic_spi # BLDC motor + SPI magnetic sensor
│ |
│ ├─ arduino_foc_stepper_openloop # Stepper motor + Open loop control
│ ├─ arduino_foc_stepper_encoder # Stepper motor + Encoder
└─ arduino_foc_stepper_magnetic_i2c # Stepper motor + I2C magnetic sensor Creating your own minimal project version is very simple and is done in four steps:
- Step 0: Download minimal branch contents to your PC
- Step 1: Create your the arduino project
- Step 2: Add motor specific code
- Step 3: Add sensor specific code
- Make sure you are in minimal branch
- Download the code by clicking on the
Clone or Download > Download ZIP. - Unzip it
- Open the terminal:
cd *to you desired directory* git clone -b minimal https://github.com/askuric/Arduino-FOC.git
After this step you will be able to open the example projects directly with Arduino IDE. This code is completely independent and you can run it as any other Arduino Sketch without the need for any libraries.
BEWARE In some cases this minimal version of the code will produce conflicts with the Simple FOC library if it is installed through Arduino library manager. So you might need to uninstall the library to run minimal projects.
Open a directory you want to use as your arduino project directory my_arduino_project and create my_arduino_project.ino file. After this you create src folder in this directory and copy the folder named common from the library_source folder. Your project directory should now have structure:
├─── my_arduino_project
| ├─ my_arduino_project.ino
| └─── src
| | ├─── common # Contains all the common utility classes and functions
| | ├─ defaults.h # default motion control parameters
| | ├─ foc_utils.cpp./h # utility functions of the FOC algorithm
| | ├─ hardware_utils.cpp./h # all the hardware specific implementations are in these files
| | ├─ pid.cpp./h # class implementing PID controller
| | ├─ lowpass_filter.cpp./h # class implementing Low pass filter
| | ├─ FOCMotor.cpp./h # common class for all implemented motors
| | └─ Sensor./h # common class for all implemented sensors If you wish to use the BLDC motor with your setup you will have to copy the BLDCMotor.cpp/h from the library_source folder, and if you wish to use the stepper motor make sure to copy the StepperMotor.cpp/h files and place them to the src folder
├─── my_arduino_project
| ├─ my_arduino_project.ino
| └─── src
| | ├─── common # Common utility classes and functions
| | |
| | └─ BLDCMotor.cpp/h # BLDC motor handling class And in your Arduino code in the my_arduino_project.ino file make sure to add the the include:
#include "src/BLDCMotor.h"For stepper motors the procedure is equivalent:
├─── my_arduino_project
| ├─ my_arduino_project.ino
| └─── src
| | ├─── common # Common utility classes and functions
| | |
| | └─ StepperMotor.cpp/h # Stepper motor handling class And the include:
#include "src/StepperMotor.h"If you wish to run your motor in the open loop mode these are all the files that you will need. See the arduino_foc_bldc_openloop and arduino_foc_stepper_openloop project example.
In order to support the different position sensors you will have to copy their *.cpp and *.h into your src directory. All you need to do is copy the header files from the library_source directory.
For example if you wish to use BLDC motor and encoder as a sensor, your arduino project will have structure:
├─── my_arduino_project
| ├─ my_arduino_project.ino
| └─── src
| | ├─── common # Common utility classes and functions
| | |
| | ├─ BLDCMotor.cpp/h # BLDC motor handling class
| | └─ Encoder.cpp/h # Encoder class implementing the Quadrature encoder operationsAnd your includes will be:
#include "src/BLDCMotor.h"
#include "src/Encoder.h"See arduino_foc_bldc_encoder project example or arduino_foc_stepper_encoder for stepper equivalent.
If you wish to use Stepper motor and SPI magnetic sensor in your project, your folder structure will be:
├─── my_arduino_project
| ├─ my_arduino_project.ino
| └─── src
| | ├─── common # Common utility classes and functions
| | |
| | ├─ StepperMotor.cpp/h # Stepper motor handling class
| | └─ MagneticSensorSPI.cpp/h # class implementing SPI communication for Magnetic sensorsAnd your includes will be:
#include "src/StepperMotor.h"
#include "src/MagneticSensorSPI.h"See arduino_foc_stepper_magnetic_spi project example or arduino_foc_bldc_magnetic_spi for BLDC motor equivalent.
For example if you wish to use magnetic sensor with SPI communication, your arduino project will have structure:
├─── my_arduino_project
| ├─ my_arduino_project.ino
| └─── src
| | ├─── common # Common utility classes and functions
| | |
| | ├─ BLDCMotor.cpp/h # BLDC motor handling class
| | ├─ Encoder.cpp/h # Encoder class implementing the Quadrature encoder operations
| | └─ MagneticSensorAnalog.cpp/h # class implementing Analog output for Magnetic sensorsAnd your includes will be:
#include "src/BLDCMotor.h"
#include "src/MagneticSensorAnalog.h"
#include "src/Encoder.h"Find out more information about the Arduino SimpleFOClibrary and SimpleFOCproject in docs website
| Branch | Description | Status |
|---|---|---|
| master | Stable and tested library version |  |
| dev | Development library version |  |
| minimal | Minimal Arduino example with integrated library |  |