matei/lemon-pepper-stepper
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got current sense readings!

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This commit is contained in:
matei jordache
2023-11-14 21:03:05 -05:00
parent 0dae513a2c
commit 06cc2f413d
7 changed files with 145 additions and 159 deletions
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28
firmware/src/main.cpp
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@@ -36,8 +36,8 @@ uint8_t updateData = 0;
const uint16_t magicWord = 0xAF0C;
// canbus things
extern uint8_t TxData[8];
extern uint8_t RxData[8];
extern volatile uint8_t TxData[8];
extern volatile uint8_t RxData[8];
// simpleFOC things
#define POLEPAIRS 50
@@ -68,6 +68,8 @@ StepperMotor motor = StepperMotor(POLEPAIRS);
Commander commander = Commander(SERIALPORT);
uint16_t counter = 0;
extern volatile uint16_t adc1Result[3];
extern volatile uint16_t adc2Result[2];
// Prototypes
uint8_t configureFOC(void);
@@ -149,29 +151,11 @@ void loop()
motor.move();
commander.run();
if (counter == 0xFF)
{
PhaseCurrent_s current = currentsense.getPhaseCurrents();
if(counter == 0){
digitalToggle(LED_GOOD);
SERIALPORT.print(current.a);
SERIALPORT.print("\t");
SERIALPORT.print(current.b);
SERIALPORT.print("\t");
SERIALPORT.println(current.c);
// SERIALPORT.print(sensor.getAngle());
// SERIALPORT.print("\t");
// SERIALPORT.print(enc.getAngle());
// SERIALPORT.print("\t");
// SERIALPORT.println(sensor.getABZResolution());
// SERIALPORT.printf("%d\t%d\t%d\n", sensor.getAngle(), sensor.getABZResolution(), enc.getAngle());
counter = 0;
Serial.println(adc1Result[0]);
}
counter++;
#ifdef HAS_MONITOR
motor.monitor();
#endif