try to fix submodule

firmware/lib/Arduino-FOC/examples/hardware_specific_examples/ESP32/encoder/esp32_position_control/esp32_position_control.ino

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+/**
+ * ESP32 position motion control example with encoder
+ *
+ */
+#include <SimpleFOC.h>
+
+// Motor instance
+BLDCMotor motor = BLDCMotor(11);
+BLDCDriver3PWM driver = BLDCDriver3PWM(25, 26, 27, 7);
+
+// encoder instance
+Encoder encoder = Encoder(4, 2, 1024);
+
+// Interrupt routine intialisation
+// channel A and B callbacks
+void doA(){encoder.handleA();}
+void doB(){encoder.handleB();}
+
+// angle set point variable
+float target_angle = 0;
+// instantiate the commander
+Commander command = Commander(Serial);
+void doTarget(char* cmd) { command.scalar(&target_angle, 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 the motor and the driver
+  motor.linkDriver(&driver);
+
+  // aligning voltage [V]
+  motor.voltage_sensor_align = 3;
+  // index search velocity [rad/s]
+  motor.velocity_index_search = 3;
+
+  // set motion control loop to be used
+  motor.controller = MotionControlType::velocity;
+
+  // contoller configuration
+  // default parameters in defaults.h
+
+  // velocity PI controller parameters
+  motor.PID_velocity.P = 0.2f;
+  motor.PID_velocity.I = 20;
+  // default voltage_power_supply
+  motor.voltage_limit = 6;
+  // jerk control using voltage voltage ramp
+  // default value is 300 volts per sec  ~ 0.3V per millisecond
+  motor.PID_velocity.output_ramp = 1000;
+
+  // velocity low pass filtering time constant
+  motor.LPF_velocity.Tf = 0.01f;
+
+  // angle P controller
+  motor.P_angle.P = 20;
+  //  maximal velocity of the position control
+  motor.velocity_limit = 4;
+
+
+  // use monitoring with serial
+  Serial.begin(115200);
+  // comment out if not needed
+  motor.useMonitoring(Serial);
+
+  // initialize motor
+  motor.init();
+  // align encoder and start FOC
+  motor.initFOC();
+
+  // add target command T
+  command.add('T', doTarget, "target angle");
+
+  Serial.println(F("Motor ready."));
+  Serial.println(F("Set the target angle using serial terminal:"));
+  _delay(1000);
+}
+
+void loop() {
+  // main FOC algorithm function
+  // the faster you run this function the better
+  // Arduino UNO loop  ~1kHz
+  // Bluepill loop ~10kHz
+  motor.loopFOC();
+
+  // Motion control function
+  // velocity, position or voltage (defined in motor.controller)
+  // this function can be run at much lower frequency than loopFOC() function
+  // You can also use motor.move() and set the motor.target in the code
+  motor.move(target_angle);
+
+  // function intended to be used with serial plotter to monitor motor variables
+  // significantly slowing the execution down!!!!
+  // motor.monitor();
+
+  // user communication
+  command.run();
+}

firmware/lib/Arduino-FOC/examples/hardware_specific_examples/ESP32/magnetic_sensor/esp32_position_control/esp32_position_control.ino

@@ -0,0 +1,112 @@
+/**
+ * ESP32 position motion control example with magnetic sensor
+ */
+#include <SimpleFOC.h>
+
+// SPI Magnetic sensor instance (AS5047U example)
+// MISO 12
+// MOSI 9
+// SCK 14
+// magnetic sensor instance - SPI
+MagneticSensorSPI sensor = MagneticSensorSPI(AS5147_SPI, 15);
+
+// I2C Magnetic sensor instance (AS5600 example)
+// make sure to use the pull-ups!!
+// SDA 21
+// SCL 22
+// magnetic sensor instance - I2C
+//MagneticSensorI2C sensor = MagneticSensorI2C(AS5600_I2C);
+
+// Analog output Magnetic sensor instance (AS5600)
+// MagneticSensorAnalog sensor = MagneticSensorAnalog(A1, 14, 1020);
+
+// Motor instance
+BLDCMotor motor = BLDCMotor(11);
+BLDCDriver3PWM driver = BLDCDriver3PWM(25, 26, 27, 7);
+
+
+// angle set point variable
+float target_angle = 0;
+// instantiate the commander
+Commander command = Commander(Serial);
+void doTarget(char* cmd) { command.scalar(&target_angle, cmd); }
+
+void setup() {
+
+  // initialise magnetic sensor hardware
+  sensor.init();
+  // link the motor to the sensor
+  motor.linkSensor(&sensor);
+
+  // driver config
+  // power supply voltage [V]
+  driver.voltage_power_supply = 12;
+  driver.init();
+  // link the motor and the driver
+  motor.linkDriver(&driver);
+
+  // choose FOC modulation (optional)
+  motor.foc_modulation = FOCModulationType::SpaceVectorPWM;
+
+  // set motion control loop to be used
+  motor.controller = MotionControlType::angle;
+
+  // contoller configuration
+  // default parameters in defaults.h
+
+  // velocity PI controller parameters
+  motor.PID_velocity.P = 0.2f;
+  motor.PID_velocity.I = 20;
+  // maximal voltage to be set to the motor
+  motor.voltage_limit = 6;
+
+  // velocity low pass filtering time constant
+  // the lower the less filtered
+  motor.LPF_velocity.Tf = 0.01f;
+
+  // angle P controller
+  motor.P_angle.P = 20;
+  // maximal velocity of the position control
+  motor.velocity_limit = 40;
+
+  // use monitoring with serial
+  Serial.begin(115200);
+  // comment out if not needed
+  motor.useMonitoring(Serial);
+
+
+  // initialize motor
+  motor.init();
+  // align sensor and start FOC
+  motor.initFOC();
+
+  // add target command T
+  command.add('T', doTarget, "target angle");
+
+  Serial.println(F("Motor ready."));
+  Serial.println(F("Set the target angle using serial terminal:"));
+  _delay(1000);
+}
+
+void loop() {
+
+  // main FOC algorithm function
+  // the faster you run this function the better
+  // Arduino UNO loop  ~1kHz
+  // Bluepill loop ~10kHz
+  motor.loopFOC();
+
+  // Motion control function
+  // velocity, position or voltage (defined in motor.controller)
+  // this function can be run at much lower frequency than loopFOC() function
+  // You can also use motor.move() and set the motor.target in the code
+  motor.move(target_angle);
+
+
+  // function intended to be used with serial plotter to monitor motor variables
+  // significantly slowing the execution down!!!!
+  // motor.monitor();
+
+  // user communication
+  command.run();
+}