try to fix submodule

firmware/lib/Arduino-FOC/examples/motor_commands_serial_examples/encoder/full_control_serial/full_control_serial.ino

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+/**
+ * Comprehensive BLDC motor control example using encoder
+ *
+ * Using serial terminal user can send motor commands and configure the motor and FOC in real-time:
+ * - configure PID controller constants
+ * - change motion control loops
+ * - monitor motor variabels
+ * - set target values
+ * - check all the configuration values
+ *
+ * See more info in docs.simplefoc.com/commander_interface
+ */
+#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();}
+
+
+// commander interface
+Commander command = Commander(Serial);
+void onMotor(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);
+
+
+  // choose FOC modulation
+  motor.foc_modulation = FOCModulationType::SpaceVectorPWM;
+  // set control loop type to be used
+  motor.controller = MotionControlType::torque;
+
+  // contoller configuration based on the controll type
+  motor.PID_velocity.P = 0.2f;
+  motor.PID_velocity.I = 20;
+  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 = 50;
+
+  // use monitoring with serial for motor init
+  // monitoring port
+  Serial.begin(115200);
+  // comment out if not needed
+  motor.useMonitoring(Serial);
+
+  // initialise motor
+  motor.init();
+  // align encoder and start FOC
+  motor.initFOC();
+
+  // set the inital target value
+  motor.target = 2;
+
+  // define the motor id
+  command.add('A', onMotor, "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
+  // velocity, position or voltage
+  // if tatget not set in parameter uses motor.target variable
+  motor.move();
+
+  // user communication
+  command.run();
+}

firmware/lib/Arduino-FOC/examples/motor_commands_serial_examples/hall_sensor/full_control_serial/full_control_serial.ino

@@ -0,0 +1,114 @@
+/**
+ * Comprehensive BLDC motor control example using Hall sensor
+ *
+ * Using serial terminal user can send motor commands and configure the motor and FOC in real-time:
+ * - configure PID controller constants
+ * - change motion control loops
+ * - monitor motor variabels
+ * - set target values
+ * - check all the configuration values
+ *
+ * See more info in docs.simplefoc.com/commander_interface
+ */
+#include <SimpleFOC.h>
+// software interrupt library
+#include <PciManager.h>
+#include <PciListenerImp.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, B and C callbacks
+void doA(){sensor.handleA();}
+void doB(){sensor.handleB();}
+void doC(){sensor.handleC();}
+// If no available hadware interrupt pins use the software interrupt
+PciListenerImp listenC(sensor.pinC, doC);
+
+
+// commander interface
+Commander command = Commander(Serial);
+void onMotor(char* cmd){ command.motor(&motor, cmd); }
+
+
+void setup() {
+
+  // initialize encoder sensor hardware
+  sensor.init();
+  sensor.enableInterrupts(doA, doB); //, doC);
+  // software interrupts
+  PciManager.registerListener(&listenC);
+  // 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);
+
+
+  // choose FOC modulation
+  motor.foc_modulation = FOCModulationType::SpaceVectorPWM;
+  // set control loop type to be used
+  motor.controller = MotionControlType::torque;
+  // contoller configuration based on the controll type
+  motor.PID_velocity.P = 0.2f;
+  motor.PID_velocity.I = 20;
+  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 = 50;
+
+  // use monitoring with serial for motor init
+  // monitoring port
+  Serial.begin(115200);
+  // comment out if not needed
+  motor.useMonitoring(Serial);
+
+  // initialise motor
+  motor.init();
+  // align encoder and start FOC
+  motor.initFOC();
+
+  // set the inital target value
+  motor.target = 2;
+
+  // define the motor id
+  command.add('A', onMotor, "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
+  // velocity, position or voltage
+  // if tatget not set in parameter uses motor.target variable
+  motor.move();
+
+  // user communication
+  command.run();
+}

firmware/lib/Arduino-FOC/examples/motor_commands_serial_examples/magnetic_sensor/full_control_serial/full_control_serial.ino

@@ -0,0 +1,104 @@
+/**
+ * Comprehensive BLDC motor control example using magnetic sensor
+ *
+ * Using serial terminal user can send motor commands and configure the motor and FOC in real-time:
+ * - configure PID controller constants
+ * - change motion control loops
+ * - monitor motor variabels
+ * - set target values
+ * - check all the configuration values
+ *
+ * See more info in docs.simplefoc.com/commander_interface
+ */
+#include <SimpleFOC.h>
+
+// magnetic sensor instance - SPI
+MagneticSensorSPI sensor = MagneticSensorSPI(AS5147_SPI, 10);
+// magnetic sensor instance - MagneticSensorI2C
+//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);
+
+// commander interface
+Commander command = Commander(Serial);
+void onMotor(char* cmd){ command.motor(&motor, 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 driver
+  motor.linkDriver(&driver);
+
+  // choose FOC modulation
+  motor.foc_modulation = FOCModulationType::SpaceVectorPWM;
+
+  // set control loop type to be used
+  motor.controller = MotionControlType::torque;
+
+  // contoller configuration based on the control type
+  motor.PID_velocity.P = 0.2f;
+  motor.PID_velocity.I = 20;
+  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 = 50;
+
+  // use monitoring with serial for motor init
+  // monitoring port
+  Serial.begin(115200);
+  // comment out if not needed
+  motor.useMonitoring(Serial);
+
+  // initialise motor
+  motor.init();
+  // align encoder and start FOC
+  motor.initFOC();
+
+  // set the inital target value
+  motor.target = 2;
+
+  // define the motor id
+  command.add('A', onMotor, "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
+  // velocity, position or voltage
+  // if tatget not set in parameter uses motor.target variable
+  motor.move();
+
+  // user communication
+  command.run();
+}