reafctoring and readme added

Author: askuric

BLDCMotor.cpp

@@ -28,14 +28,14 @@ BLDCMotor::BLDCMotor(int phA, int phB, int phC, int pp, int en)
   PI_velocity.K = DEF_PI_VEL_K;
   PI_velocity.Ti = DEF_PI_VEL_TI;
   PI_velocity.timestamp = micros();
-  PI_velocity.u_limit = DEF_POWER_SUPPLY;
+  PI_velocity.u_limit = -1;
 
   // Ultra slow velocity
   // PI contoroller
   PI_velocity_ultra_slow.K = DEF_PI_VEL_US_K;
   PI_velocity_ultra_slow.Ti = DEF_PI_VEL_US_TI;
   PI_velocity_ultra_slow.timestamp = micros();
-  PI_velocity_ultra_slow.u_limit = DEF_POWER_SUPPLY;
+  PI_velocity_ultra_slow.u_limit = -1;
 
   // position loop config
   // P controller constant
@@ -55,13 +55,17 @@ void BLDCMotor::init() {
   pinMode(pwmC, OUTPUT);
   pinMode(enable_pin, OUTPUT);
 
-
   // Increase PWM frequency to 32 kHz
   // make silent
   setPwmFrequency(pwmA);
   setPwmFrequency(pwmB);
   setPwmFrequency(pwmC);
 
+  // check if u_limit configuration has been done. 
+  // if not set it to the power_supply_voltage
+  if(PI_velocity.u_limit == -1) PI_velocity.u_limit = power_supply_voltage;
+  if(PI_velocity_ultra_slow.u_limit == -1) PI_velocity_ultra_slow.u_limit = power_supply_voltage;
+
   delay(500);
   // enable motor
   enable();

README.md

@@ -26,7 +26,7 @@ void setup() {
   Serial.begin(115200);
 
   // check if you need internal pullups
-  // Pullup::EXTERN - external pullup added
+  // Pullup::EXTERN - external pullup added  - dafault
   // Pullup::INTERN - needs internal arduino pullup
   encoder.pullup = Pullup::INTERN;
   // initialise encoder hardware

examples/HMBGC_example/HMBGC_example.ino

@@ -23,7 +23,7 @@ void setup() {
   Serial.begin(115200);
 
   // check if you need internal pullups
-  // Pullup::EXTERN - external pullup added
+  // Pullup::EXTERN - external pullup added  - dafault
   // Pullup::INTERN - needs internal arduino pullup
   encoder.pullup = Pullup::EXTERN;
 

examples/angle_control/angle_control.ino

@@ -26,7 +26,7 @@ void setup() {
   Serial.begin(115200);
 
   // check if you need internal pullups
-  // Pullup::EXTERN - external pullup added
+  // Pullup::EXTERN - external pullup added  - dafault
   // Pullup::INTERN - needs internal arduino pullup
   encoder.pullup = Pullup::EXTERN;
 

examples/angle_control_serial/angle_control_serial.ino

@@ -0,0 +1,33 @@
+#include <ArduinoFOC.h>
+
+// Only pins 2 and 3 are supported
+#define arduinoInt1 2             // Arduino UNO interrupt 0
+#define arduinoInt2 3             // Arduino UNO interrupt 1
+
+Encoder encoder = Encoder(arduinoInt1, arduinoInt2, 8192);
+// interrupt ruotine intialisation
+void doA(){encoder.handleA();}
+void doB(){encoder.handleB();}
+
+void setup() {
+  // debugging port
+  Serial.begin(115200);
+
+  // check if you need internal pullups
+  // Pullup::EXTERN - external pullup added  - dafault
+  // Pullup::INTERN - needs internal arduino pullup
+  encoder.pullup = Pullup::EXTERN;
+  
+  // initialise encoder hardware
+  encoder.init(doA, doB);
+
+  Serial.println("Encoder ready");
+  delay(1000);
+}
+
+void loop() {
+  // display the angle and the angular velocity to the terminal
+  Serial.print(encoder.getAngle());
+  Serial.print("\t")
+  Serial.ptntln(encoder.getVelocity());
+}

examples/encoder_example/encoder_example.ino

@@ -25,10 +25,11 @@ void setup() {
   encoder.init(doA, doB);
   // link the motor to the sensor
   motor.linkEncoder(&encoder);
-  // intialise motor
-  motor.init();
   // velocity control
   motor.controller = ControlType::velocity;
+
+  // intialise motor
+  motor.init();
   // align encoder and start FOC
   motor.initFOC();
 
@@ -44,5 +45,4 @@ void loop() {
   motor.loopFOC();
   // control loop
   motor.move(target_velocity);
-  motor_monitor();
 }

examples/minimal_example/minimal_example.ino

@@ -27,7 +27,7 @@ void setup() {
   Serial.begin(115200);
 
   // check if you need internal pullups
-  // Pullup::EXTERN - external pullup added
+  // Pullup::EXTERN - external pullup added  - dafault
   // Pullup::INTERN - needs internal arduino pullup
   encoder.pullup = Pullup::EXTERN;
 

examples/velocity_ultraslow_control_serial/velocity_ultraslow_control_serial.ino

@@ -0,0 +1,112 @@
+#include <ArduinoFOC.h>
+
+// Only pins 2 and 3 are supported
+#define arduinoInt1 2             // Arduino UNO interrupt 0
+#define arduinoInt2 3             // Arduino UNO interrupt 1
+
+//  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, 8);
+//  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(arduinoInt1, arduinoInt2, 8192, 4);
+// interrupt ruotine intialisation
+void doA(){encoder.handleA();}
+void doB(){encoder.handleB();}
+
+void setup() {
+  // debugging port
+  Serial.begin(115200);
+
+  // check if you need internal pullups
+  // Pullup::EXTERN - external pullup added  - dafault
+  // Pullup::INTERN - needs internal arduino pullup
+  encoder.pullup = Pullup::EXTERN;
+  
+  // initialise encoder hardware
+  encoder.init(doA, doB);
+
+  // set driver type
+  //  DriverType::unipolar
+  //  DriverType::bipolar    - default
+  motor.driver = DriverType::bipolar;
+
+  // power supply voltage
+  // default 12V
+  motor.power_supply_voltage = 12;
+
+  // set FOC loop to be used
+  // ControlType::voltage
+  // ControlType::velocity
+  // ControlType::velocity_ultra_slow
+  // ControlType::angle
+  motor.controller = ControlType::voltage;
+
+  // link the motor to the sensor
+  motor.linkEncoder(&encoder);
+
+  // intialise motor
+  motor.init();
+  // align encoder and start FOC
+  motor.initFOC();
+
+
+  Serial.println("Motor ready.");
+  delay(1000);
+}
+
+// uq voltage
+float voltage_Uq = 5;
+
+void loop() {
+
+  // iterative state calculation calculating angle
+  // and setting FOC pahse voltage
+  // the faster you run this funciton the better
+  // in arduino loop it should have ~1kHz
+  // the best would be to be in ~10kHz range
+  motor.loopFOC();
+
+  // iterative function setting the outter loop target
+  // velocity, position or voltage
+  // this funciton can be run at much lower frequency than loopFOC funciton
+  // it can go as low as ~50Hz
+  motor.move(voltage_Uq);
+
+
+  // function intended to be used with serial plotter to monitor motor variables
+  // significantly slowing the execution down!!!!
+  motor_monitor();
+}
+
+// utility function intended to be used with serial plotter to monitor motor variables
+// significantly slowing the execution down!!!!
+void motor_monitor() {
+  switch (motor.controller) {
+    case ControlType::velocity_ultra_slow:
+    case ControlType::velocity:
+      Serial.print(motor.voltage_q);
+      Serial.print("\t");
+      Serial.print(motor.shaft_velocity_sp);
+      Serial.print("\t");
+      Serial.println(motor.shaft_velocity);
+      break;
+    case ControlType::angle:
+      Serial.print(motor.voltage_q);
+      Serial.print("\t");
+      Serial.print(motor.shaft_angle_sp);
+      Serial.print("\t");
+      Serial.println(motor.shaft_angle);
+      break;
+    case ControlType::voltage:
+      Serial.print(motor.voltage_q);
+      Serial.print("\t");
+      Serial.println(motor.shaft_velocity);
+      break;
+  }
+}
+