SimpleFOC

[tianrking]

BLDCMotor motor = BLDCMotor(7);
// BLDCDriver3PWM driver = BLDCDriver3PWM(pwmA, pwmB, pwmC, Enable(optional));
BLDCDriver3PWM driver = BLDCDriver3PWM(32, 33, 25, 22);

MagneticSensorI2C sensor = MagneticSensorI2C(AS5600_I2C);
TwoWire I2Cone = TwoWire(0);

void setup() {
// monitoring port
Serial.begin(115200);

I2Cone.begin(19,18,400000);
// configure i2C
// Wire.setClock(400000);
// initialise magnetic sensor hardware
sensor.init(&I2Cone);

Serial.println("Sensor ready");
_delay(1000);
}

toque

/**

• Comprehensive BLDC motor control example using magnetic sensor
• 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>

// magnetic sensor instance - SPI
//MagneticSensorSPI sensor = MagneticSensorSPI(AS5147_SPI, 10);
// magnetic sensor instance - MagneticSensorI2C
MagneticSensorI2C sensor = MagneticSensorI2C(AS5600_I2C);
TwoWire I2Cone = TwoWire(0);
// magnetic sensor instance - analog output
// MagneticSensorAnalog sensor = MagneticSensorAnalog(A1, 14, 1020);

// BLDC motor & driver instance
BLDCMotor motor = BLDCMotor(7);
// BLDCDriver3PWM driver = BLDCDriver3PWM(pwmA, pwmB, pwmC, Enable(optional));
BLDCDriver3PWM driver = BLDCDriver3PWM(32, 33, 25, 22);
// Stepper motor & driver instance
//StepperMotor motor = StepperMotor(50);
//StepperDriver4PWM driver = StepperDriver4PWM(9, 5, 10, 6, 8);

// commander interface
Commander command = Commander(Serial);
void onMotor(char* cmd){ command.motor(&motor, cmd); }

void setup() {

// initialise magnetic sensor hardware
I2Cone.begin(19,18,400000);
sensor.init(&I2Cone);
// link the motor to the sensor
motor.linkSensor(&sensor);

// driver config
// power supply voltage [V]
driver.voltage_power_supply = 12;
driver.init();
// link driver
motor.linkDriver(&driver);

// choose FOC modulation
motor.foc_modulation = FOCModulationType::SpaceVectorPWM;

// set control loop type to be used
motor.controller = MotionControlType::torque;

// 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;

// velocity low pass filtering time constant
motor.LPF_velocity.Tf = 0.01f;

// angle loop controller
motor.P_angle.P = 20;
// angle loop velocity limit
motor.velocity_limit = 50;

// use monitoring with serial for motor init
// monitoring port
Serial.begin(115200);
// comment out if not needed
motor.useMonitoring(Serial);

// initialise motor
motor.init();
// align encoder and start FOC
motor.initFOC();

// set the inital target value
motor.target = 2;

// define the motor id
command.add('A', onMotor, "motor");

// 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."));

_delay(1000);
}

void loop() {
// iterative setting FOC phase voltage
motor.loopFOC();

// iterative function setting the outter loop target
// velocity, position or voltage
// if tatget not set in parameter uses motor.target variable
motor.move();

// user communication
command.run();
}