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Merge pull request #30 from simplefoc/dev
PR for v1.0.5 Release
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,141 @@ | ||
| /** | ||
| * | ||
| * Hall sensor velocity motion control example, modified to demonstrate usage of SmoothingSensor | ||
| * Steps: | ||
| * 1) Configure the motor and sensor | ||
| * 2) Run the code | ||
| * 3) Set the target velocity (in radians per second) from serial terminal | ||
| * 4) Try with and without smoothing to see the difference (send E1 and E0 commands from serial terminal) | ||
| * | ||
| * | ||
| * | ||
| * NOTE : | ||
| * > Specifically for Arduino UNO example code for running velocity motion control using a hall sensor | ||
| * > Since Arduino UNO doesn't have enough interrupt pins we have to use software interrupt library PciManager. | ||
| * | ||
| * > If running this code with Nucleo or Bluepill or any other board which has more than 2 interrupt pins | ||
| * > you can supply doC directly to the sensor.enableInterrupts(doA,doB,doC) and avoid using PciManger | ||
| * | ||
| */ | ||
| #include <SimpleFOC.h> | ||
| // software interrupt library | ||
| #include <PciManager.h> | ||
| #include <PciListenerImp.h> | ||
| #include <SimpleFOCDrivers.h> | ||
| #include <encoders/smoothing/SmoothingSensor.h> | ||
|
|
||
| // BLDC motor & driver instance | ||
| BLDCMotor motor = BLDCMotor(11); | ||
| BLDCDriver3PWM driver = BLDCDriver3PWM(9, 5, 6, 8); | ||
| // Stepper motor & driver instance | ||
| //StepperMotor motor = StepperMotor(50); | ||
| //StepperDriver4PWM driver = StepperDriver4PWM(9, 5, 10, 6, 8); | ||
|
|
||
| // hall sensor instance | ||
| HallSensor sensor = HallSensor(2, 3, 4, 11); | ||
| // wrapper instance | ||
| SmoothingSensor smooth(sensor, motor); | ||
|
|
||
| // Interrupt routine intialisation | ||
| // channel A and B callbacks | ||
| void doA(){sensor.handleA();} | ||
| void doB(){sensor.handleB();} | ||
| void doC(){sensor.handleC();} | ||
| // If no available hadware interrupt pins use the software interrupt | ||
| PciListenerImp listenerIndex(sensor.pinC, doC); | ||
|
|
||
| // velocity set point variable | ||
| float target_velocity = 0; | ||
| // instantiate the commander | ||
| Commander command = Commander(Serial); | ||
| void doTarget(char* cmd) { command.scalar(&target_velocity, cmd); } | ||
|
|
||
| void enableSmoothing(char* cmd) { | ||
| float enable; | ||
| command.scalar(&enable, cmd); | ||
| motor.linkSensor(enable == 0 ? (Sensor*)&sensor : (Sensor*)&smooth); | ||
| } | ||
|
|
||
| void setup() { | ||
|
|
||
| // initialize sensor sensor hardware | ||
| sensor.init(); | ||
| sensor.enableInterrupts(doA, doB); //, doC); | ||
| // software interrupts | ||
| PciManager.registerListener(&listenerIndex); | ||
| // set SmoothingSensor phase correction for hall sensors | ||
| smooth.phase_correction = -_PI_6; | ||
| // link the SmoothingSensor to the motor | ||
| motor.linkSensor(&smooth); | ||
|
|
||
| // driver config | ||
| // power supply voltage [V] | ||
| driver.voltage_power_supply = 12; | ||
| driver.init(); | ||
| // link the motor and the driver | ||
| motor.linkDriver(&driver); | ||
|
|
||
| // aligning voltage [V] | ||
| motor.voltage_sensor_align = 3; | ||
|
|
||
| // set motion control loop to be used | ||
| motor.controller = MotionControlType::velocity; | ||
|
|
||
| // contoller configuration | ||
| // default parameters in defaults.h | ||
|
|
||
| // velocity PI controller parameters | ||
| motor.PID_velocity.P = 0.2f; | ||
| motor.PID_velocity.I = 2; | ||
| motor.PID_velocity.D = 0; | ||
| // 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 = 0.01f; | ||
|
|
||
| // use monitoring with serial | ||
| Serial.begin(115200); | ||
| // comment out if not needed | ||
| motor.useMonitoring(Serial); | ||
|
|
||
| // initialize motor | ||
| motor.init(); | ||
| // align sensor and start FOC | ||
| motor.initFOC(); | ||
|
|
||
| // add target command T | ||
| command.add('T', doTarget, "target voltage"); | ||
|
|
||
| // add smoothing enable/disable command E (send E0 to use hall sensor alone, or E1 to use smoothing) | ||
| command.add('E', enableSmoothing, "enable smoothing"); | ||
|
|
||
| Serial.println(F("Motor ready.")); | ||
| Serial.println(F("Set the target velocity using serial terminal:")); | ||
| _delay(1000); | ||
| } | ||
|
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|
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| void loop() { | ||
| // main FOC algorithm function | ||
| // the faster you run this function the better | ||
| // Arduino UNO loop ~1kHz | ||
| // Bluepill loop ~10kHz | ||
| motor.loopFOC(); | ||
|
|
||
| // Motion control function | ||
| // velocity, position or voltage (defined in motor.controller) | ||
| // this function can be run at much lower frequency than loopFOC() function | ||
| // You can also use motor.move() and set the motor.target in the code | ||
| motor.move(target_velocity); | ||
|
|
||
| // function intended to be used with serial plotter to monitor motor variables | ||
| // significantly slowing the execution down!!!! | ||
| // motor.monitor(); | ||
|
|
||
| // user communication | ||
| command.run(); | ||
| } |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,5 @@ | ||
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| # SimpleFOC communications support code | ||
|
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| This folder contains classes to support you communicating between MCUs running SimpleFOC, and other systems. | ||
|
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