try to fix submodule

firmware/lib/Arduino-FOC/examples/motion_control/torque_control/encoder/current_control/current_control.ino

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+/**
+ *
+ * Torque control example using current control loop.
+ *
+ */
+#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();}
+
+// current sensor
+InlineCurrentSense current_sense = InlineCurrentSense(0.01f, 50.0f, A0, A2);
+
+// current set point variable
+float target_current = 0;
+// instantiate the commander
+Commander command = Commander(Serial);
+void doTarget(char* cmd) { command.scalar(&target_current, 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);
+
+  // current sense init hardware
+  current_sense.init();
+  // link the current sense to the motor
+  motor.linkCurrentSense(&current_sense);
+
+  // set torque mode:
+  // TorqueControlType::dc_current
+  // TorqueControlType::voltage
+  // TorqueControlType::foc_current
+  motor.torque_controller = TorqueControlType::foc_current;
+  // set motion control loop to be used
+  motor.controller = MotionControlType::torque;
+
+  // foc currnet control parameters (Arduino UNO/Mega)
+  motor.PID_current_q.P = 5;
+  motor.PID_current_q.I= 300;
+  motor.PID_current_d.P= 5;
+  motor.PID_current_d.I = 300;
+  motor.LPF_current_q.Tf = 0.01f;
+  motor.LPF_current_d.Tf = 0.01f;
+  // foc currnet control parameters (stm/esp/due/teensy)
+  // motor.PID_current_q.P = 5;
+  // motor.PID_current_q.I= 1000;
+  // motor.PID_current_d.P= 5;
+  // motor.PID_current_d.I = 1000;
+  // motor.LPF_current_q.Tf = 0.002f; // 1ms default
+  // motor.LPF_current_d.Tf = 0.002f; // 1ms default
+
+  // 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 current");
+
+  Serial.println(F("Motor ready."));
+  Serial.println(F("Set the target current 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 torque (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_current);
+
+  // user communication
+  command.run();
+}

firmware/lib/Arduino-FOC/examples/motion_control/torque_control/encoder/voltage_control/voltage_control.ino

@@ -0,0 +1,92 @@
+/**
+ * 
+ * Torque control example using voltage control loop.
+ * 
+ * Most of the low-end BLDC driver boards doesn't have current measurement therefore SimpleFOC offers 
+ * you a way to control motor torque by setting the voltage to the motor instead hte current. 
+ * 
+ * This makes the BLDC motor effectively a DC motor, and you can use it in a same way.
+ */
+#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();}
+
+// voltage set point variable
+float target_voltage = 2;
+// instantiate the commander
+Commander command = Commander(Serial);
+void doTarget(char* cmd) { command.scalar(&target_voltage, 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);
+
+
+  // aligning voltage
+  motor.voltage_sensor_align = 5;
+  // choose FOC modulation (optional)
+  motor.foc_modulation = FOCModulationType::SpaceVectorPWM;
+
+  // set motion control loop to be used
+  motor.controller = MotionControlType::torque;
+
+  // 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 voltage");
+
+  Serial.println(F("Motor ready."));
+  Serial.println(F("Set the target voltage 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_voltage);
+
+  // user communication
+  command.run();
+}

firmware/lib/Arduino-FOC/examples/motion_control/torque_control/hall_sensor/voltage_control/voltage_control.ino

@@ -0,0 +1,95 @@
+/**
+ * 
+ * Torque control example using voltage control loop.
+ * 
+ * Most of the low-end BLDC driver boards doesn't have current measurement therefore SimpleFOC offers 
+ * you a way to control motor torque by setting the voltage to the motor instead of the current. 
+ * 
+ * This makes the BLDC motor effectively a DC motor, and you can use it in a same way.
+ */
+#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);
+
+// hall sensor instance
+HallSensor sensor = HallSensor(2, 3, 4, 11);
+
+// Interrupt routine intialisation
+// channel A and B callbacks
+void doA(){sensor.handleA();}
+void doB(){sensor.handleB();}
+void doC(){sensor.handleC();}
+
+
+// voltage set point variable
+float target_voltage = 2;
+// instantiate the commander
+Commander command = Commander(Serial);
+void doTarget(char* cmd) { command.scalar(&target_voltage, cmd); }
+
+void setup() { 
+  
+  // initialize encoder sensor hardware
+  sensor.init();
+  sensor.enableInterrupts(doA, doB, doC); 
+  // link the motor to the sensor
+  motor.linkSensor(&sensor);
+
+  // driver config
+  // power supply voltage [V]
+  driver.voltage_power_supply = 12;
+  driver.init();
+  // link driver
+  motor.linkDriver(&driver);
+
+  // aligning voltage
+  motor.voltage_sensor_align = 3;
+  
+  // choose FOC modulation (optional)
+  motor.foc_modulation = FOCModulationType::SpaceVectorPWM;
+
+  // set motion control loop to be used
+  motor.controller = MotionControlType::torque;
+
+  // 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 voltage");
+
+  Serial.println(F("Motor ready."));
+  Serial.println(F("Set the target voltage 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_voltage);
+
+  // user communication
+  command.run();
+}

firmware/lib/Arduino-FOC/examples/motion_control/torque_control/magnetic_sensor/voltage_control/voltage_control.ino

@@ -0,0 +1,84 @@
+/**
+ * Torque control example using voltage control loop.
+ * 
+ * Most of the low-end BLDC driver boards doesn't have current measurement therefore SimpleFOC offers 
+ * you a way to control motor torque by setting the voltage to the motor instead hte current. 
+ * 
+ * This makes the BLDC motor effectively a DC motor, and you can use it in a same way.
+ */
+#include <SimpleFOC.h>
+
+// magnetic sensor instance - SPI
+MagneticSensorSPI sensor = MagneticSensorSPI(AS5147_SPI, 10);
+// magnetic sensor instance - I2C
+// MagneticSensorI2C sensor = MagneticSensorI2C(AS5600_I2C);
+// magnetic sensor instance - analog output
+// MagneticSensorAnalog sensor = MagneticSensorAnalog(A1, 14, 1020);
+
+// 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);
+
+// voltage set point variable
+float target_voltage = 2;
+// instantiate the commander
+Commander command = Commander(Serial);
+void doTarget(char* cmd) { command.scalar(&target_voltage, cmd); }
+
+void setup() {
+
+  // initialise magnetic sensor hardware
+  sensor.init();
+  // link the motor to the sensor
+  motor.linkSensor(&sensor);
+
+  // power supply voltage
+  driver.voltage_power_supply = 12;
+  driver.init();
+  motor.linkDriver(&driver);
+
+  // aligning voltage 
+  motor.voltage_sensor_align = 5;
+  // choose FOC modulation (optional)
+  motor.foc_modulation = FOCModulationType::SpaceVectorPWM;
+  // set motion control loop to be used
+  motor.controller = MotionControlType::torque;
+
+  // 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 voltage");
+
+  Serial.println(F("Motor ready."));
+  Serial.println(F("Set the target voltage 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_voltage);
+  
+  // user communication
+  command.run();
+}