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Merge pull request #16 from simplefoc/dev
1.0.2 Release merge
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| .project | ||
| .DS_Store |
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| /** | ||
| * Torque control example using voltage control loop. | ||
| * | ||
| * Most of the low-end BLDC driver boards doesn't have current measurement therefore SimpleFOC offers | ||
| * you a way to control motor torque by setting the voltage to the motor instead hte current. | ||
| * | ||
| * This makes the BLDC motor effectively a DC motor, and you can use it in a same way. | ||
| */ | ||
| #include <SimpleFOC.h> | ||
| #include <SimpleFOCDrivers.h> | ||
| #include "encoders/calibrated/CalibratedSensor.h" | ||
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| // magnetic sensor instance - SPI | ||
| MagneticSensorSPI sensor = MagneticSensorSPI(AS5048_SPI, PB6); | ||
| // BLDC motor & driver instance | ||
| BLDCMotor motor = BLDCMotor(11); | ||
| BLDCDriver3PWM driver = BLDCDriver3PWM(PB4,PC7,PB10,PA9); | ||
| // instantiate the calibrated sensor object | ||
| CalibratedSensor sensor_calibrated = CalibratedSensor(sensor); | ||
|
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| // voltage set point variable | ||
| float target_voltage = 2; | ||
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| // instantiate the commander | ||
| Commander command = Commander(Serial); | ||
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| void doTarget(char* cmd) { command.scalar(&target_voltage, cmd); } | ||
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| void setup() { | ||
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| SPI.setMISO(PB14); | ||
| SPI.setMOSI(PB15); | ||
| SPI.setSCLK(PB13); | ||
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| sensor.init(); | ||
| // Link motor to sensor | ||
| motor.linkSensor(&sensor); | ||
| // power supply voltage | ||
| driver.voltage_power_supply = 20; | ||
| driver.init(); | ||
| motor.linkDriver(&driver); | ||
| // aligning voltage | ||
| motor.voltage_sensor_align = 8; | ||
| motor.voltage_limit = 20; | ||
| // set motion control loop to be used | ||
| motor.controller = MotionControlType::torque; | ||
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| // use monitoring with serial | ||
| Serial.begin(115200); | ||
| // comment out if not needed | ||
| motor.useMonitoring(Serial); | ||
| motor.monitor_variables = _MON_VEL; | ||
| motor.monitor_downsample = 10; // default 10 | ||
|
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| // initialize motor | ||
| motor.init(); | ||
|
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| // set voltage to run calibration | ||
| sensor_calibrated.voltage_calibration = 6; | ||
| // Running calibration | ||
| sensor_calibrated.calibrate(motor); | ||
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| //Serial.println("Calibrating Sensor Done."); | ||
| // Linking sensor to motor object | ||
| motor.linkSensor(&sensor_calibrated); | ||
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| // calibrated init FOC | ||
| motor.initFOC(); | ||
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| // add target command T | ||
| command.add('T', doTarget, "target voltage"); | ||
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| Serial.println(F("Motor ready.")); | ||
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| Serial.println(F("Set the target voltage using serial terminal:")); | ||
| _delay(1000); | ||
| } | ||
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| void loop() { | ||
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| motor.loopFOC(); | ||
| motor.move(target_voltage); | ||
| command.run(); | ||
| motor.monitor(); | ||
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| } |
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| /** | ||
| * Comprehensive BLDC motor control example using magnetic sensor MT6816 | ||
| * | ||
| * Using serial terminal user can send motor commands and configure the motor and FOC in real-time: | ||
| * - configure PID controller constants | ||
| * - change motion control loops | ||
| * - monitor motor variabels | ||
| * - set target values | ||
| * - check all the configuration values | ||
| * | ||
| * See more info in docs.simplefoc.com/commander_interface | ||
| */ | ||
| #include <SimpleFOC.h> | ||
| #include <SimpleFOCDrivers.h> | ||
| #include <encoders/mt6816/MagneticSensorMT6816.h> | ||
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| // magnetic sensor instance - MT6816 SPI mode | ||
| MagneticSensorMT6816 sensor = MagneticSensorMT6816(5); | ||
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| // BLDC motor & driver instance | ||
| BLDCMotor motor = BLDCMotor(7); | ||
| BLDCDriver3PWM driver = BLDCDriver3PWM(32, 25, 26, 33); | ||
|
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| // Inline Current Sense instance | ||
| InlineCurrentSense current_sense = InlineCurrentSense(0.01, 50.0, 35, 34); | ||
|
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| // commander interface | ||
| Commander command = Commander(Serial); | ||
| void onMotor(char* cmd){ command.motor(&motor, cmd); } | ||
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| void setup() { | ||
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| // initialise magnetic sensor hardware | ||
| sensor.init(); | ||
| // link the motor to the sensor | ||
| motor.linkSensor(&sensor); | ||
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| // driver config | ||
| // power supply voltage [V] | ||
| driver.voltage_power_supply = 12; | ||
| driver.init(); | ||
| // link driver | ||
| motor.linkDriver(&driver); | ||
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| // choose FOC modulation | ||
| motor.foc_modulation = FOCModulationType::SpaceVectorPWM; | ||
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| // set control loop type to be used | ||
| motor.controller = MotionControlType::torque; | ||
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| // contoller configuration based on the control type | ||
| motor.PID_velocity.P = 0.2f; | ||
| motor.PID_velocity.I = 20; | ||
| motor.PID_velocity.D = 0; | ||
| // default voltage_power_supply | ||
| motor.voltage_limit = 12; | ||
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| // velocity low pass filtering time constant | ||
| motor.LPF_velocity.Tf = 0.01f; | ||
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| // angle loop velocity limit | ||
| motor.velocity_limit = 50; | ||
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| // use monitoring with serial for motor init | ||
| // monitoring port | ||
| Serial.begin(115200); | ||
| // comment out if not needed | ||
| motor.useMonitoring(Serial); | ||
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| current_sense.linkDriver(&driver); | ||
| current_sense.init(); | ||
| current_sense.gain_b *= -1; | ||
| current_sense.skip_align = true; | ||
| motor.linkCurrentSense(¤t_sense); | ||
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| // initialise motor | ||
| motor.init(); | ||
| // align encoder and start FOC | ||
| motor.initFOC(); | ||
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| // set the inital target value | ||
| motor.target = 2; | ||
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| // define the motor id | ||
| command.add('A', onMotor, "motor"); | ||
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| // Run user commands to configure and the motor (find the full command list in docs.simplefoc.com) | ||
| Serial.println(F("Motor commands sketch | Initial motion control > torque/voltage : target 2V.")); | ||
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| _delay(1000); | ||
| } | ||
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| void loop() { | ||
| // iterative setting FOC phase voltage | ||
| motor.loopFOC(); | ||
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| // iterative function setting the outter loop target | ||
| // velocity, position or voltage | ||
| // if tatget not set in parameter uses motor.target variable | ||
| motor.move(); | ||
|
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| // user communication | ||
| command.run(); | ||
| } |
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