基于simplefoc库和ESP32实现双电机驱动

利用simplefoc库和ESP32板驱动双电机。

直接上代码

#include <Arduino.h>

#include <Wire.h>

#include <SimpleFOC.h>

#include <iostream>

#include <sstream>

// SDA 21

// SCL 22

// magnetic sensor instance - I2C

MagneticSensorI2C sensor = MagneticSensorI2C(AS5600_I2C);

MagneticSensorI2C sensor1 = MagneticSensorI2C(AS5600_I2C);

BLDCMotor motor = BLDCMotor(7);

BLDCDriver3PWM driver = BLDCDriver3PWM(32, 33, 25, 12);

BLDCMotor motor1 = BLDCMotor(7);

BLDCDriver3PWM driver1 = BLDCDriver3PWM(14, 27, 26, 13);

// angle set point variable

float target_angle = 0;

float target_angle0 = 0;//电机0的值

float target_angle1 = 0;//电机1的值

bool bHassend ;

// attractor angle variable

float attract_angle = 0;

//产生断续阻尼的效果

// distance between attraction points

float attractor_distance = 10*_PI/180.0; // dimp each 45 degrees

float findAttractor(float current_angle){

  return round(current_angle/attractor_distance)*attractor_distance;

}

// instantiate the commander

// Commander command = Commander(Serial);

// void doTarget(char* cmd) { command.scalar(&target_angle, cmd); }

void setup() {