matei/lemon-pepper-stepper
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

try to fix submodule

Browse Source
This commit is contained in:
matei jordache
2023-11-09 19:02:15 -05:00
parent c1d45aa443
commit deea94b076
366 changed files with 40228 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files

41
firmware/lib/Arduino-FOC/examples/hardware_specific_examples/Teensy/Teensy3/bldc_driver_6pwm_standalone/bldc_driver_6pwm_standalone.ino Normal file
View File

@@ -0,0 +1,41 @@
// 6pwm standalone example code for Teensy 3.x boards
#include <SimpleFOC.h>
// BLDC driver instance
// using FTM0 timer
BLDCDriver6PWM driver = BLDCDriver6PWM(22,23, 9,10, 6,20, 8);
// using FTM3 timer - available on Teensy3.5 and Teensy3.6
// BLDCDriver6PWM driver = BLDCDriver6PWM(2,14, 7,8, 35,36, 8);
void setup() {
Serial.begin(115200);
// Enable debugging
// Driver init will show debugging output
SimpleFOCDebug::enable(&Serial);
// pwm frequency to be used [Hz]
driver.pwm_frequency = 30000;
// dead zone percentage of the duty cycle - default 0.02 - 2%
driver.dead_zone=0.02;
// power supply voltage [V]
driver.voltage_power_supply = 12;
// Max DC voltage allowed - default voltage_power_supply
driver.voltage_limit = 12;
// driver init
driver.init();
// enable driver
driver.enable();
_delay(1000);
}
void loop() {
// setting pwm
// phase A: 3V
// phase B: 6V
// phase C: 5V
driver.setPwm(3,6,5);
}

65
firmware/lib/Arduino-FOC/examples/hardware_specific_examples/Teensy/Teensy3/open_loop_velocity_6pwm/open_loop_velocity_6pwm.ino Normal file
View File

@@ -0,0 +1,65 @@
// 6pwm openloop velocity example
#include <SimpleFOC.h>
// BLDC motor & driver instance
// BLDCMotor motor = BLDCMotor(pole pair number);
BLDCMotor motor = BLDCMotor(11);
// using FTM0 timer
// BLDCDriver6PWM(pwmA_H, pwmA_L, pwmB_H,pwmB_L, pwmC_H, pwmC_L)
BLDCDriver6PWM driver = BLDCDriver6PWM(22,23, 9,10, 6,20, 8);
// using FTM3 timer - available on Teensy3.5 and Teensy3.6
// BLDCDriver6PWM driver = BLDCDriver6PWM(2,14, 7,8, 35,36, 8);
// instantiate the commander
Commander command = Commander(Serial);
void doTarget(char* cmd) { command.scalar(&motor.target, cmd); }
void doLimit(char* cmd) { command.scalar(&motor.voltage_limit, cmd); }
void setup() {
// driver config
// power supply voltage [V]
driver.voltage_power_supply = 12;
// limit the maximal dc voltage the driver can set
// as a protection measure for the low-resistance motors
// this value is fixed on startup
driver.voltage_limit = 6;
driver.init();
// link the motor and the driver
motor.linkDriver(&driver);
// limiting motor movements
// limit the voltage to be set to the motor
// start very low for high resistance motors
// currnet = resistance*voltage, so try to be well under 1Amp
motor.voltage_limit = 3; // [V]
// open loop control config
motor.controller = MotionControlType::velocity_openloop;
// init motor hardware
motor.init();
//initial motor target
motor.target=0;
// add target command T
command.add('T', doTarget, "target velocity");
command.add('L', doLimit, "voltage limit");
Serial.begin(115200);
Serial.println("Motor ready!");
Serial.println("Set target velocity [rad/s]");
_delay(1000);
}
void loop() {
// open loop velocity movement
// using motor.voltage_limit
motor.move();
// user communication
command.run();
}

57
firmware/lib/Arduino-FOC/examples/hardware_specific_examples/Teensy/Teensy4/bldc_driver_6pwm_standalone/bldc_driver_6pwm_standalone.ino Normal file
View File

@@ -0,0 +1,57 @@
// 6pwm standalone example code for Teensy 4.x boards
//
// Teensy4.x 6pwm driver generates a 6pwm signal using FlexTimers and it doesn't support the QuadTimers
// - Each high-low pair of the 6pwm has to be A and B channels of the same FlexTimer and to the same submodule
//
// List of available teensy 4.1 pins with their respective submodules and channels
// FlexPWM(timer number)_(submodule)_(channel)
// FlexPWM4_2_A pin 2
// FlexPWM4_2_B pin 3
// FlexPWM1_3_B pin 7
// FlexPWM1_3_A pin 8
// FlexPWM2_2_A pin 6
// FlexPWM2_2_B pin 9
// FlexPWM3_1_B pin 28
// FlexPWM3_1_A pin 29
// FlexPWM2_3_A pin 36
// FlexPWM2_3_B pin 37
#include <SimpleFOC.h>
// BLDC driver instance
// make sure to provide channel A for high side and channel B for low side
// BLDCDriver6PWM(pwmA_H, pwmA_L, pwmB_H,pwmB_L, pwmC_H, pwmC_L)
// Example configuration
BLDCDriver6PWM driver = BLDCDriver6PWM(2,3, 6,9, 8,7);
void setup() {
Serial.begin(115200);
// Enable debugging
// Driver init will show debugging output
SimpleFOCDebug::enable(&Serial);
// pwm frequency to be used [Hz]
driver.pwm_frequency = 30000;
// dead zone percentage of the duty cycle - default 0.02 - 2%
driver.dead_zone=0.02;
// power supply voltage [V]
driver.voltage_power_supply = 12;
// Max DC voltage allowed - default voltage_power_supply
driver.voltage_limit = 12;
// driver init
driver.init();
// enable driver
driver.enable();
_delay(1000);
}
void loop() {
// setting pwm
// phase A: 3V
// phase B: 6V
// phase C: 5V
driver.setPwm(3,6,5);
}

80
firmware/lib/Arduino-FOC/examples/hardware_specific_examples/Teensy/Teensy4/open_loop_velocity_6pwm/open_loop_velocity_6pwm.ino Normal file
View File

@@ -0,0 +1,80 @@
// 6pwm openloop velocity example
//
// Teensy4.x 6pwm driver generates a 6pwm signal using FlexTimers and it doesn't support the QuadTimers
// - Each high-low pair of the 6pwm has to be A and B channels of the same FlexTimer and to the same submodule
//
// List of available teensy 4.1 pins with their respective submodules and channels
// FlexPWM(timer number)_(submodule)_(channel)
// FlexPWM4_2_A pin 2
// FlexPWM4_2_B pin 3
// FlexPWM1_3_B pin 7
// FlexPWM1_3_A pin 8
// FlexPWM2_2_A pin 6
// FlexPWM2_2_B pin 9
// FlexPWM3_1_B pin 28
// FlexPWM3_1_A pin 29
// FlexPWM2_3_A pin 36
// FlexPWM2_3_B pin 37
#include <SimpleFOC.h>
// BLDC motor & driver instance
// BLDCMotor motor = BLDCMotor(pole pair number);
BLDCMotor motor = BLDCMotor(11);
// make sure to provide channel A for high side and channel B for low side
// BLDCDriver6PWM(pwmA_H, pwmA_L, pwmB_H,pwmB_L, pwmC_H, pwmC_L)
// Example configuration
BLDCDriver6PWM driver = BLDCDriver6PWM(2,3, 6,9, 8,7);
// instantiate the commander
Commander command = Commander(Serial);
void doTarget(char* cmd) { command.scalar(&motor.target, cmd); }
void doLimit(char* cmd) { command.scalar(&motor.voltage_limit, cmd); }
void setup() {
// driver config
// power supply voltage [V]
driver.voltage_power_supply = 12;
// limit the maximal dc voltage the driver can set
// as a protection measure for the low-resistance motors
// this value is fixed on startup
driver.voltage_limit = 6;
driver.init();
// link the motor and the driver
motor.linkDriver(&driver);
// limiting motor movements
// limit the voltage to be set to the motor
// start very low for high resistance motors
// currnet = resistance*voltage, so try to be well under 1Amp
motor.voltage_limit = 3; // [V]
// open loop control config
motor.controller = MotionControlType::velocity_openloop;
// init motor hardware
motor.init();
//initial motor target
motor.target=0;
// add target command T
command.add('T', doTarget, "target velocity");
command.add('L', doLimit, "voltage limit");
Serial.begin(115200);
Serial.println("Motor ready!");
Serial.println("Set target velocity [rad/s]");
_delay(1000);
}
void loop() {
// open loop velocity movement
// using motor.voltage_limit
motor.move();
// user communication
command.run();
}