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Merge pull request #42 from simplefoc/dev
Release 1.0.7 PR
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68 changes: 68 additions & 0 deletions
68
examples/drivers/simplefocnano/simplefocnano_atmega/simplefocnano_atmega.ino
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,68 @@ | ||
| #include <Arduino.h> | ||
| #include <SPI.h> | ||
| #include "SimpleFOC.h" | ||
| #include "SimpleFOCDrivers.h" | ||
| #include "drivers/simplefocnano/SimpleFOCNanoDriver.h" | ||
| #include "encoders/as5048a/MagneticSensorAS5048A.h" | ||
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| MagneticSensorAS5048A sensor = MagneticSensorAS5048A(PIN_nCS); | ||
| SimpleFOCNanoDriver driver = SimpleFOCNanoDriver(); | ||
| BLDCMotor motor = BLDCMotor(11); // 11 pole pairs | ||
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| long loopts = 0; | ||
| int iterations = 0; | ||
| float volts = 0.0f; | ||
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| void setup() { | ||
| Serial.begin(115200); // enable serial port | ||
| delay(5000); | ||
| SimpleFOCDebug::enable(); // enable debug messages to Serial | ||
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| sensor.init(); // init sensor on default SPI pins | ||
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| // read voltage | ||
| SimpleFOCDebug::print("Bus voltage: "); | ||
| volts = driver.getBusVoltage(5.0f, 1024); // 5V reference, 10-bit ADC | ||
| SimpleFOCDebug::println(volts); | ||
| driver.voltage_power_supply = volts; // set driver voltage to measured value | ||
| driver.voltage_limit = 10.0f; // limit voltage to 10V | ||
| driver.pwm_frequency = 30000; // set pwm frequency to 30kHz | ||
| driver.init(); // init driver | ||
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| motor.linkSensor(&sensor); // link the motor to the sensor | ||
| motor.linkDriver(&driver); // link the motor to the driver | ||
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| motor.controller = MotionControlType::torque; // torque control | ||
| motor.torque_controller = TorqueControlType::voltage; // use voltage torque control | ||
| motor.voltage_limit = driver.voltage_limit / 2.0f; // limit voltage to 1/2 of driver limit | ||
| motor.voltage_sensor_align = 4.0f; // align voltage sensor to 4V | ||
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| motor.init(); // init motor | ||
| delay(100); // wait for driver to power up | ||
| motor.initFOC(); // init FOC and calibrate motor | ||
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| Serial.println("Motor ready."); | ||
| loopts = millis(); | ||
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| // Set the motor target to 2 volts | ||
| motor.target = 2.0f; | ||
| } | ||
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| void loop() { | ||
| motor.move(); | ||
| motor.loopFOC(); | ||
| long now = millis(); | ||
| iterations++; | ||
| if (now - loopts > 1000) { | ||
| Serial.print("Iterations/s: "); | ||
| Serial.println(iterations); | ||
| Serial.print("Angle: "); | ||
| Serial.println(sensor.getAngle()); | ||
| loopts = now; | ||
| iterations = 0; | ||
| } | ||
| if (now - loopts < 0) | ||
| loopts = 0; | ||
| } |
71 changes: 71 additions & 0 deletions
71
examples/drivers/simplefocnano/simplefocnano_torque_voltage/simplefocnano_torque_voltage.ino
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,71 @@ | ||
| #include <Arduino.h> | ||
| #include <SPI.h> | ||
| #include "SimpleFOC.h" | ||
| #include "SimpleFOCDrivers.h" | ||
| #include "drivers/simplefocnano/SimpleFOCNanoDriver.h" | ||
| #include "encoders/as5048a/MagneticSensorAS5048A.h" | ||
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| MagneticSensorAS5048A sensor = MagneticSensorAS5048A(PIN_nCS); | ||
| SimpleFOCNanoDriver driver = SimpleFOCNanoDriver(); | ||
| BLDCMotor motor = BLDCMotor(11); // 11 pole pairs | ||
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| Commander commander = Commander(Serial); | ||
| void doMotor(char* cmd) { commander.motor(&motor, cmd); } | ||
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| long loopts = 0; | ||
| int iterations = 0; | ||
| float volts = 0.0f; | ||
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| void setup() { | ||
| Serial.begin(115200); // enable serial port | ||
| delay(5000); | ||
| SimpleFOCDebug::enable(); // enable debug messages to Serial | ||
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| sensor.init(); // init sensor on default SPI pins | ||
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| // read voltage | ||
| SimpleFOCDebug::print("Bus voltage: "); | ||
| volts = driver.getBusVoltage(3.3, 4096); | ||
| SimpleFOCDebug::println(volts); | ||
| driver.voltage_power_supply = volts; // set driver voltage to measured value | ||
| driver.voltage_limit = 10.0f; // limit voltage to 10V | ||
| driver.pwm_frequency = 30000; // set pwm frequency to 30kHz | ||
| driver.init(); // init driver | ||
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| motor.linkSensor(&sensor); // link the motor to the sensor | ||
| motor.linkDriver(&driver); // link the motor to the driver | ||
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| motor.controller = MotionControlType::torque; // torque control | ||
| motor.torque_controller = TorqueControlType::voltage; // use voltage torque control | ||
| motor.voltage_limit = driver.voltage_limit / 2.0f; // limit voltage to 1/2 of driver limit | ||
| motor.voltage_sensor_align = 4.0f; // align voltage sensor to 4V | ||
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| motor.init(); // init motor | ||
| delay(100); // wait for driver to power up | ||
| motor.initFOC(); // init FOC and calibrate motor | ||
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| commander.add('M', doMotor); // add motor command | ||
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| Serial.println("Motor ready."); | ||
| loopts = millis(); | ||
| } | ||
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| void loop() { | ||
| motor.move(); | ||
| motor.loopFOC(); | ||
| commander.run(); | ||
| long now = millis(); | ||
| iterations++; | ||
| if (now - loopts > 1000) { | ||
| Serial.print("Iterations/s: "); | ||
| Serial.println(iterations); | ||
| Serial.print("Angle: "); | ||
| Serial.println(sensor.getAngle()); | ||
| loopts = now; | ||
| iterations = 0; | ||
| } | ||
| if (now - loopts < 0) | ||
| loopts = 0; | ||
| } |
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