refactored examples

Author: askuric

examples/hardware_specific_examples/SimpleFOCShield/version_v3/single_full_control_example/single_full_control_example.ino

@@ -13,7 +13,7 @@ void doB(){encoder.handleB();}
 
 // inline current sensor instance
 // ACS712-05B has the resolution of 0.185mV per Amp
-InlineCurrentSense current_sense = InlineCurrentSense(1.0f, 0.185f, A0, A2);
+InlineCurrentSense current_sense = InlineCurrentSense(185.0f, A0, A2);
 
 // commander communication instance
 Commander command = Commander(Serial);

examples/motion_control/open_loop_motor_control/open_loop_velocity_example/open_loop_velocity_example.ino

@@ -36,7 +36,10 @@ void setup() {
   // as a protection measure for the low-resistance motors
   // this value is fixed on startup
   driver.voltage_limit = 6;
-  driver.init();
+  if(!driver.init()){
+    Serial.println("Driver init failed!");
+    return;
+  }
   // link the motor and the driver
   motor.linkDriver(&driver);
 
@@ -50,7 +53,11 @@ void setup() {
   motor.controller = MotionControlType::velocity_openloop;
 
   // init motor hardware
-  motor.init();
+  if(!motor.init()){
+    Serial.println("Motor init failed!");
+    return;
+  }
+
 
   // add target command T
   command.add('T', doTarget, "target velocity");

examples/utils/current_sense_test/inline_current_sense_test/inline_current_sense_test.ino

@@ -19,7 +19,10 @@ void setup() {
   SimpleFOCDebug::enable(&Serial);
 
   // initialise the current sensing
-  current_sense.init();
+  if(!current_sense.init()){
+    Serial.println("Current sense init failed.");
+    return;
+  }
 
   // for SimpleFOCShield v2.01/v2.0.2
   current_sense.gain_b *= -1;

examples/utils/driver_standalone_test/bldc_driver_3pwm_standalone/bldc_driver_3pwm_standalone.ino

@@ -23,11 +23,14 @@ void setup() {
   driver.voltage_limit = 12;
 
   // driver init
-  driver.init();
+  if (!driver.init()){
+    Serial.println("Driver init failed!");
+    return;
+  }
 
   // enable driver
   driver.enable();
-
+  Serial.println("Driver ready!");
   _delay(1000);
 }
 

examples/utils/driver_standalone_test/bldc_driver_6pwm_standalone/bldc_driver_6pwm_standalone.ino

@@ -24,11 +24,14 @@ void setup() {
   driver.dead_zone = 0.05f;
 
   // driver init
-  driver.init();
+  if (!driver.init()){
+    Serial.println("Driver init failed!");
+    return;
+  }
 
   // enable driver
   driver.enable();
-
+  Serial.println("Driver ready!");
   _delay(1000);
 }
 

examples/utils/driver_standalone_test/stepper_driver_2pwm_standalone/stepper_driver_2pwm_standalone.ino

@@ -29,11 +29,14 @@ void setup() {
   driver.voltage_limit = 12;
 
   // driver init
-  driver.init();
+  if (!driver.init()){
+    Serial.println("Driver init failed!");
+    return;
+  }
 
   // enable driver
   driver.enable();
-
+  Serial.println("Driver ready!");
   _delay(1000);
 }
 

examples/utils/driver_standalone_test/stepper_driver_4pwm_standalone/stepper_driver_4pwm_standalone.ino

@@ -24,11 +24,14 @@ void setup() {
   driver.voltage_limit = 12;
 
   // driver init
-  driver.init();
+  if (!driver.init()){
+    Serial.println("Driver init failed!");
+    return;
+  }
 
   // enable driver
   driver.enable();
-
+  Serial.println("Driver ready!");
   _delay(1000);
 }
 

examples/utils/sensor_test/hall_sensors/hall_sensor_example/hall_sensor_example.ino

@@ -13,13 +13,6 @@
 //  - pp                     - pole pairs
 HallSensor sensor = HallSensor(2, 3, 4, 14);
 
-// Interrupt routine intialisation
-// channel A and B callbacks
-void doA(){sensor.handleA();}
-void doB(){sensor.handleB();}
-void doC(){sensor.handleC();}
-
-
 void setup() {
   // monitoring port
   Serial.begin(115200);
@@ -29,8 +22,6 @@ void setup() {
 
   // initialise encoder hardware
   sensor.init();
-  // hardware interrupt enable
-  sensor.enableInterrupts(doA, doB, doC);
 
   Serial.println("Sensor ready");
   _delay(1000);

examples/utils/sensor_test/hall_sensors/hall_sensor_hardware_interrupts_example/hall_sensor_hardware_interrupts_example.ino

@@ -0,0 +1,48 @@
+/**
+ *  Hall sensor example code 
+ * 
+ * This is a code intended to test the hall sensors connections and to demonstrate the hall sensor setup.
+ * 
+ */
+
+#include <SimpleFOC.h>
+
+// Hall sensor instance
+// HallSensor(int hallA, int hallB , int cpr, int index)
+//  - hallA, hallB, hallC    - HallSensor A, B and C pins
+//  - pp                     - pole pairs
+HallSensor sensor = HallSensor(2, 3, 4, 14);
+
+// Interrupt routine intialisation
+// channel A and B callbacks
+void doA(){sensor.handleA();}
+void doB(){sensor.handleB();}
+void doC(){sensor.handleC();}
+
+
+void setup() {
+  // monitoring port
+  Serial.begin(115200);
+
+  // check if you need internal pullups
+  sensor.pullup = Pullup::USE_EXTERN;
+  
+  // initialise encoder hardware
+  sensor.init();
+  // hardware interrupt enable
+  sensor.enableInterrupts(doA, doB, doC);
+
+  Serial.println("Sensor ready");
+  _delay(1000);
+}
+
+void loop() {
+  // iterative function updating the sensor internal variables
+  // it is usually called in motor.loopFOC()
+  sensor.update();
+  // display the angle and the angular velocity to the terminal
+  Serial.print(sensor.getAngle());
+  Serial.print("\t");
+  Serial.println(sensor.getVelocity());
+  delay(100);
+}