/**
 * Comprehensive BLDC motor control example using encoder
 *
 * 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>

// 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);

// encoder instance
Encoder encoder = Encoder(2, 3, 8192);

// Interrupt routine intialisation
// channel A and B callbacks
void doA(){encoder.handleA();}
void doB(){encoder.handleB();}


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

void setup() {

  // initialize encoder sensor hardware
  encoder.init();
  encoder.enableInterrupts(doA, doB);
  // link the motor to the sensor
  motor.linkSensor(&encoder);

  // 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 controll 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();
}