try to fix submodule

firmware/lib/Arduino-FOC/examples/hardware_specific_examples/SimpleFOCShield/version_v1/double_full_control_example/double_full_control_example.ino

@@ -0,0 +1,118 @@
+
+#include <SimpleFOC.h>
+
+// BLDC motor & driver instance
+BLDCMotor motor1 = BLDCMotor(11);
+BLDCDriver3PWM driver1 = BLDCDriver3PWM(9, 5, 6, 8);
+
+// BLDC motor & driver instance
+BLDCMotor motor2 = BLDCMotor(11);
+BLDCDriver3PWM driver2  = BLDCDriver3PWM(3, 10, 11, 7);
+
+// encoder instance
+Encoder encoder1 = Encoder(2, A3, 500);
+// channel A and B callbacks
+void doA1(){encoder1.handleA();}
+void doB1(){encoder1.handleB();}
+
+// encoder instance
+Encoder encoder2 = Encoder(A1, A2, 500);
+// channel A and B callbacks
+void doA2(){encoder2.handleA();}
+void doB2(){encoder2.handleB();}
+
+// commander communication instance
+Commander command = Commander(Serial);
+void doMotor1(char* cmd){ command.motor(&motor1, cmd); }
+void doMotor2(char* cmd){ command.motor(&motor2, cmd); }
+
+void setup() {
+
+  // initialize encoder sensor hardware
+  encoder1.init();
+  encoder1.enableInterrupts(doA1, doB1);
+  // initialize encoder sensor hardware
+  encoder2.init();
+  encoder2.enableInterrupts(doA2, doB2);
+  // link the motor to the sensor
+  motor1.linkSensor(&encoder1);
+  motor2.linkSensor(&encoder2);
+
+
+  // driver config
+  // power supply voltage [V]
+  driver1.voltage_power_supply = 12;
+  driver1.init();
+  // link driver
+  motor1.linkDriver(&driver1);
+  // power supply voltage [V]
+  driver2.voltage_power_supply = 12;
+  driver2.init();
+  // link driver
+  motor2.linkDriver(&driver2);
+
+  // set control loop type to be used
+  motor1.controller = MotionControlType::torque;
+  motor2.controller = MotionControlType::torque;
+
+  // contoller configuration based on the controll type
+  motor1.PID_velocity.P = 0.05f;
+  motor1.PID_velocity.I = 1;
+  motor1.PID_velocity.D = 0;
+  // default voltage_power_supply
+  motor1.voltage_limit = 12;
+  // contoller configuration based on the controll type
+  motor2.PID_velocity.P = 0.05f;
+  motor2.PID_velocity.I = 1;
+  motor2.PID_velocity.D = 0;
+  // default voltage_power_supply
+  motor2.voltage_limit = 12;
+
+  // angle loop velocity limit
+  motor1.velocity_limit = 20;
+  motor2.velocity_limit = 20;
+
+  // use monitoring with serial for motor init
+  // monitoring port
+  Serial.begin(115200);
+  // comment out if not needed
+  motor1.useMonitoring(Serial);
+  motor2.useMonitoring(Serial);
+
+  // initialise motor
+  motor1.init();
+  // align encoder and start FOC
+  motor1.initFOC();
+
+  // initialise motor
+  motor2.init();
+  // align encoder and start FOC
+  motor2.initFOC();
+
+  // set the inital target value
+  motor1.target = 2;
+  motor2.target = 2;
+
+  // subscribe motor to the commander
+  command.add('A', doMotor1, "motor 1");
+  command.add('B', doMotor2, "motor 2");
+
+  // Run user commands to configure and the motor (find the full command list in docs.simplefoc.com)
+  Serial.println(F("Double motor sketch ready."));
+
+  _delay(1000);
+}
+
+
+void loop() {
+  // iterative setting FOC phase voltage
+  motor1.loopFOC();
+  motor2.loopFOC();
+
+  // iterative function setting the outter loop target
+  motor1.move();
+  motor2.move();
+
+  // user communication
+  command.run();
+}

firmware/lib/Arduino-FOC/examples/hardware_specific_examples/SimpleFOCShield/version_v1/single_full_control_example/single_full_control_example.ino

@@ -0,0 +1,89 @@
+
+#include <SimpleFOC.h>
+
+// BLDC motor & driver instance
+BLDCMotor motor = BLDCMotor(11);
+BLDCDriver3PWM driver = BLDCDriver3PWM(9, 5, 6, 8);
+
+// encoder instance
+Encoder encoder = Encoder(2, 3, 500);
+// channel A and B callbacks
+void doA(){encoder.handleA();}
+void doB(){encoder.handleB();}
+
+// commander communication instance
+Commander command = Commander(Serial);
+void doMotor(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);
+
+  // set control loop type to be used
+  motor.controller = MotionControlType::torque;
+
+  // contoller configuration based on the controll type
+  motor.PID_velocity.P = 0.05f;
+  motor.PID_velocity.I = 1;
+  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 = 20;
+
+  // use monitoring with serial for motor init
+  // monitoring port
+  Serial.begin(115200);
+  // comment out if not needed
+  motor.useMonitoring(Serial);
+  motor.monitor_downsample = 0; // disable intially
+  motor.monitor_variables = _MON_TARGET | _MON_VEL | _MON_ANGLE; // monitor target velocity and angle
+
+  // initialise motor
+  motor.init();
+  // align encoder and start FOC
+  motor.initFOC();
+
+  // set the inital target value
+  motor.target = 2;
+
+  // subscribe motor to the commander
+  command.add('M', doMotor, "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
+  motor.move();
+
+  // motor monitoring
+  motor.monitor();
+
+  // user communication
+  command.run();
+}

firmware/lib/Arduino-FOC/examples/hardware_specific_examples/SimpleFOCShield/version_v2/double_full_control_example/double_full_control_example.ino

@@ -0,0 +1,144 @@
+
+#include <SimpleFOC.h>
+
+// BLDC motor & driver instance
+BLDCMotor motor1 = BLDCMotor(11);
+BLDCDriver3PWM driver1 = BLDCDriver3PWM(5, 10, 6, 8);
+
+// BLDC motor & driver instance
+BLDCMotor motor2 = BLDCMotor(11);
+BLDCDriver3PWM driver2  = BLDCDriver3PWM(3, 9, 11, 7);
+
+// encoder instance
+Encoder encoder1 = Encoder(12, 2, 500);
+// channel A and B callbacks
+void doA1(){encoder1.handleA();}
+void doB1(){encoder1.handleB();}
+
+// encoder instance
+Encoder encoder2 = Encoder(A5, A4, 500);
+// channel A and B callbacks
+void doA2(){encoder2.handleA();}
+void doB2(){encoder2.handleB();}
+
+
+// inline current sensor instance
+// check if your board has R010 (0.01 ohm resistor) or R006 (0.006 mOhm resistor)
+InlineCurrentSense current_sense1 = InlineCurrentSense(0.01f, 50.0f, A0, A2);
+
+// inline current sensor instance
+// check if your board has R010 (0.01 ohm resistor) or R006 (0.006 mOhm resistor)
+InlineCurrentSense current_sense2 = InlineCurrentSense(0.01f, 50.0f, A1, A3);
+
+// commander communication instance
+Commander command = Commander(Serial);
+// void doMotor1(char* cmd){ command.motor(&motor1, cmd); }
+// void doMotor2(char* cmd){ command.motor(&motor2, cmd); }
+void doTarget1(char* cmd){ command.scalar(&motor1.target, cmd); }
+void doTarget2(char* cmd){ command.scalar(&motor2.target, cmd); }
+
+void setup() {
+
+  // initialize encoder sensor hardware
+  encoder1.init();
+  encoder1.enableInterrupts(doA1, doB1);
+  // initialize encoder sensor hardware
+  encoder2.init();
+  encoder2.enableInterrupts(doA2, doB2);
+  // link the motor to the sensor
+  motor1.linkSensor(&encoder1);
+  motor2.linkSensor(&encoder2);
+
+
+  // driver config
+  // power supply voltage [V]
+  driver1.voltage_power_supply = 12;
+  driver1.init();
+  // link driver
+  motor1.linkDriver(&driver1);
+  // link current sense and the driver
+  current_sense1.linkDriver(&driver1);
+  
+  // power supply voltage [V]
+  driver2.voltage_power_supply = 12;
+  driver2.init();
+  // link driver
+  motor2.linkDriver(&driver2);
+  // link current sense and the driver
+  current_sense2.linkDriver(&driver2);
+
+  // set control loop type to be used
+  motor1.controller = MotionControlType::torque;
+  motor2.controller = MotionControlType::torque;
+
+  // contoller configuration based on the controll type
+  motor1.PID_velocity.P = 0.05f;
+  motor1.PID_velocity.I = 1;
+  motor1.PID_velocity.D = 0;
+  // default voltage_power_supply
+  motor1.voltage_limit = 12;
+  // contoller configuration based on the controll type
+  motor2.PID_velocity.P = 0.05f;
+  motor2.PID_velocity.I = 1;
+  motor2.PID_velocity.D = 0;
+  // default voltage_power_supply
+  motor2.voltage_limit = 12;
+
+  // angle loop velocity limit
+  motor1.velocity_limit = 20;
+  motor2.velocity_limit = 20;
+
+  // use monitoring with serial for motor init
+  // monitoring port
+  Serial.begin(115200);
+  // comment out if not needed
+  motor1.useMonitoring(Serial);
+  motor2.useMonitoring(Serial);
+
+
+  // current sense init and linking
+  current_sense1.init();
+  motor1.linkCurrentSense(&current_sense1);
+  // current sense init and linking
+  current_sense2.init();
+  motor2.linkCurrentSense(&current_sense2);
+
+  // initialise motor
+  motor1.init();
+  // align encoder and start FOC
+  motor1.initFOC();
+
+  // initialise motor
+  motor2.init();
+  // align encoder and start FOC
+  motor2.initFOC();
+
+  // set the inital target value
+  motor1.target = 2;
+  motor2.target = 2;
+
+  // subscribe motor to the commander
+  // command.add('A', doMotor1, "motor 1");
+  // command.add('B', doMotor2, "motor 2");
+  command.add('A', doTarget1, "target 1");
+  command.add('B', doTarget2, "target 2");
+
+  // Run user commands to configure and the motor (find the full command list in docs.simplefoc.com)
+  Serial.println("Motors ready.");
+
+  _delay(1000);
+}
+
+
+void loop() {
+  // iterative setting FOC phase voltage
+  motor1.loopFOC();
+  motor2.loopFOC();
+
+  // iterative function setting the outter loop target
+  motor1.move();
+  motor2.move();
+
+  // user communication
+  command.run();
+}

firmware/lib/Arduino-FOC/examples/hardware_specific_examples/SimpleFOCShield/version_v2/single_full_control_example/single_full_control_example.ino

@@ -0,0 +1,101 @@
+
+#include <SimpleFOC.h>
+
+// BLDC motor & driver instance
+BLDCMotor motor = BLDCMotor(11);
+BLDCDriver3PWM driver = BLDCDriver3PWM(5, 10, 6, 8);
+
+// encoder instance
+Encoder encoder = Encoder(2, 3, 500);
+// channel A and B callbacks
+void doA(){encoder.handleA();}
+void doB(){encoder.handleB();}
+
+// inline current sensor instance
+// check if your board has R010 (0.01 ohm resistor) or R006 (0.006 mOhm resistor)
+InlineCurrentSense current_sense = InlineCurrentSense(0.01f, 50.0f, A0, A2);
+
+// commander communication instance
+Commander command = Commander(Serial);
+void doMotion(char* cmd){ command.motion(&motor, cmd); }
+// void doMotor(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);
+  // link current sense and the driver
+  current_sense.linkDriver(&driver);
+
+  // set control loop type to be used
+  motor.controller = MotionControlType::torque;
+
+  // contoller configuration based on the controll type
+  motor.PID_velocity.P = 0.05f;
+  motor.PID_velocity.I = 1;
+  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 = 20;
+
+  // use monitoring with serial for motor init
+  // monitoring port
+  Serial.begin(115200);
+  // comment out if not needed
+  motor.useMonitoring(Serial);
+  motor.monitor_downsample = 0; // disable intially
+  motor.monitor_variables = _MON_TARGET | _MON_VEL | _MON_ANGLE; // monitor target velocity and angle
+
+  // current sense init and linking
+  current_sense.init();
+  motor.linkCurrentSense(&current_sense);
+
+  // initialise motor
+  motor.init();
+  // align encoder and start FOC
+  motor.initFOC();
+
+  // set the inital target value
+  motor.target = 2;
+
+  // subscribe motor to the commander
+  command.add('T', doMotion, "motion control");
+  // command.add('M', doMotor, "motor");
+  
+  // Run user commands to configure and the motor (find the full command list in docs.simplefoc.com)
+  Serial.println("Motor ready.");
+
+  _delay(1000);
+}
+
+
+void loop() {
+  // iterative setting FOC phase voltage
+  motor.loopFOC();
+
+  // iterative function setting the outter loop target
+  motor.move();
+
+  // motor monitoring
+  motor.monitor();
+
+  // user communication
+  command.run();
+}

firmware/lib/Arduino-FOC/examples/hardware_specific_examples/SimpleFOCShield/version_v3/single_full_control_example/single_full_control_example.ino

@@ -0,0 +1,101 @@
+
+#include <SimpleFOC.h>
+
+// BLDC motor & driver instance
+BLDCMotor motor = BLDCMotor(11);
+BLDCDriver3PWM driver = BLDCDriver3PWM(6, 10, 5, 8);
+
+// encoder instance
+Encoder encoder = Encoder(2, 3, 500);
+// channel A and B callbacks
+void doA(){encoder.handleA();}
+void doB(){encoder.handleB();}
+
+// inline current sensor instance
+// ACS712-05B has the resolution of 0.185mV per Amp
+InlineCurrentSense current_sense = InlineCurrentSense(1.0f, 0.185f, A0, A2);
+
+// commander communication instance
+Commander command = Commander(Serial);
+void doMotion(char* cmd){ command.motion(&motor, cmd); }
+// void doMotor(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);
+  // link current sense and the driver
+  current_sense.linkDriver(&driver);
+
+  // set control loop type to be used
+  motor.controller = MotionControlType::torque;
+
+  // controller configuration based on the control type
+  motor.PID_velocity.P = 0.05f;
+  motor.PID_velocity.I = 1;
+  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 = 20;
+
+  // use monitoring with serial for motor init
+  // monitoring port
+  Serial.begin(115200);
+  // comment out if not needed
+  motor.useMonitoring(Serial);
+  motor.monitor_downsample = 0; // disable intially
+  motor.monitor_variables = _MON_TARGET | _MON_VEL | _MON_ANGLE; // monitor target velocity and angle
+
+  // current sense init and linking
+  current_sense.init();
+  motor.linkCurrentSense(&current_sense);
+
+  // initialise motor
+  motor.init();
+  // align encoder and start FOC
+  motor.initFOC();
+
+  // set the inital target value
+  motor.target = 2;
+
+  // subscribe motor to the commander
+  command.add('T', doMotion, "motion control");
+  // command.add('M', doMotor, "motor");
+  
+  // Run user commands to configure and the motor (find the full command list in docs.simplefoc.com)
+  Serial.println("Motor ready.");
+
+  _delay(1000);
+}
+
+
+void loop() {
+  // iterative setting FOC phase voltage
+  motor.loopFOC();
+
+  // iterative function setting the outter loop target
+  motor.move();
+
+  // motor monitoring
+  motor.monitor();
+
+  // user communication
+  command.run();
+}