try to fix submodule

firmware/lib/Arduino-FOC/examples/osc_control_examples/README.md

@@ -0,0 +1,28 @@
+
+# OSC control examples
+
+OSC - opensoundcontrol.org is a simple message exchange protocol. Widely used in the Audio world it is being hailed as the successor to MIDI. But MIDI itself, and now OSC, has always been about sending and receiving fairly simple control messages, at medium speed, and that makes it well suited for the same kind of task in robotics or other control applications.
+
+As a protocol it is simple, making implementation quite easy, and while binary, simple enough to be fairly "human readable", which aids in debugging and reduces errors.
+
+The main advantage of using it is that there is a bunch of ready made software, and also libraries to use in your own programs, neaning you don't have to re-invent these things from scratch.
+
+## TouchOSC
+
+The first example shows how to set up control of a motor from TouchOSC. It's a super-fast way to set up a customizable GUI for your motor-project, that runs on your phone...
+
+## purr-Data
+
+The second example, "simplefoc\_osc\_esp32\_fullcontrol.ino" allows setting the variables and tuning the motor parameters, in the same way as the serial control but via OSC. The file "osc\_fullcontrol.pd" contains a sample GUI to go with that sketch, allowing the control and tuning of 2 BLDC motors.
+
+Here a screenshot of what it looks like in purr-Data:
+
+![Screenshot from pD](osc_fullcontrol_screenshot.png?raw=true "pD controlling 2 BLDC motors")
+
+
+## Links to software used in examples
+
+- OSC - opensoundcontrol.org
+- pD - https://puredata.info
+- TouchOSC - https://hexler.net/products/touchosc
+

firmware/lib/Arduino-FOC/examples/osc_control_examples/osc_esp32_3pwm/osc_esp32_3pwm.ino

@@ -0,0 +1,183 @@
+/**
+ * Arduino SimpleFOC + OSC control example
+ *
+ * Simple example to show how you can control SimpleFOC via OSC.
+ *
+ * It's a nice way to work, easier than changing speeds via Seerial text input. It could also be the basis for
+ * a functional UI, for example in a lab, art-gallery or similar situation.
+ *
+ * For this example we used an ESP32 to run the code, a AS5048B I2C absolute encoder
+ * and a generic L298 driver board to drive a Emax 4114 gimbal motor. But there is no reason the OSC part will
+ * not work with any other setup.
+ *
+ * You will need:
+ *
+ * - a working SimpleFOC setup - motor, driver, encoder
+ * - a MCU with WiFi and UDP support, for example an ESP32, or an Arduino with Ethernet Shield
+ * - a device to run an OSC UI
+ * - a configured OSC UI
+ * - a WiFi network
+ *
+ * To do the OSC UI I used TouchOSC from https://hexler.net/products/touchosc
+ * There is an example UI file that works with this sketch, see "layout1.touchosc"
+ * You can open the UI file in 'TouchOSC Editor' (free program) and transfer it to the TouchOSC app on your device.
+ *
+ * Alternatively, there are other OSC UIs which may work, e.g. http://opensoundcontrol.org/implementations
+ *
+ * Using:
+ *
+ * Change the values below to match the WiFi ssid/password of your network.
+ * Load and run the code on your ESP32. Take a note of the IP address of your ESP32.
+ * Load and run the UI in TouchOSC.
+ * Configure TouchOSC to connect to your ESP32.
+ * The first command you send will cause the ESP32 to start sending responses to your TouchOSC device.
+ * After this you will see motor position and speed in the UI.
+ * Have fun controlling your SimpleFOC motors from your smartphone!
+ *
+ */
+
+
+#include "Arduino.h"
+#include <SimpleFOC.h>
+
+#include <WiFi.h>
+#include <WiFiUdp.h>
+
+#include <OSCMessage.h>
+#include <OSCBundle.h>
+#include <OSCBoards.h>
+#include <Math.h>
+
+
+const char ssid[] = "myssid";		// your network SSID (name)
+const char pass[] = "mypassword";	// your network password
+WiFiUDP Udp;
+IPAddress outIp(192,168,1,17);        // remote IP (not needed for receive)
+const unsigned int outPort = 8000;    // remote port (not needed for receive)
+const unsigned int inPort = 8000;     // local port to listen for UDP packets (here's where we send the packets)
+
+
+OSCErrorCode error;
+
+MagneticSensorI2C sensor = MagneticSensorI2C(0x40, 14, 0xFE, 8);
+BLDCMotor motor = BLDCMotor(11);
+BLDCDriver3PWM driver =  BLDCDriver3PWM(25, 26, 27);
+
+// commander interface
+Commander command = Commander(Serial);
+
+void setup() {
+	Serial.begin(115200);
+
+	WiFi.begin(ssid, pass);
+
+    Serial.print("Connecting WiFi ");
+    Serial.println(ssid);
+    while (WiFi.status() != WL_CONNECTED) {
+    	delay(500);
+    	Serial.print(".");
+    }
+    Udp.begin(inPort);
+    Serial.println();
+    Serial.print("WiFi connected. Local OSC address: ");
+    Serial.print(WiFi.localIP());
+    Serial.print(":");
+    Serial.println(inPort);
+
+    delay(2000);
+	Serial.println("Initializing motor.");
+
+	sensor.init();
+	motor.linkSensor(&sensor);
+	driver.voltage_power_supply = 9;
+	driver.init();
+	motor.linkDriver(&driver);
+	motor.controller = MotionControlType::velocity;
+	motor.PID_velocity.P = 0.2f;
+	motor.PID_velocity.I = 20;
+	motor.PID_velocity.D = 0.001f;
+	motor.PID_velocity.output_ramp = 1000;
+	motor.LPF_velocity.Tf = 0.01f;
+	motor.voltage_limit = 8;
+	//motor.P_angle.P = 20;
+	motor.init();
+	motor.initFOC();
+
+	Serial.println("All initialization complete.");
+}
+
+// velocity set point variable
+float target_velocity = 2.0f;
+// angle set point variable
+float target_angle = 1.0f;
+
+
+void motorControl(OSCMessage &msg){
+	if (msg.isInt(0))
+		target_velocity = radians(msg.getInt(0));
+	else if (msg.isFloat(0))
+		target_velocity = radians(msg.getFloat(0));
+	else if (msg.isDouble(0))
+		target_velocity = radians(msg.getDouble(0));
+	Serial.print("Velocity set to ");
+	Serial.println(target_velocity);
+}
+
+void cmdControl(OSCMessage &msg){
+	char cmdStr[16];
+	if (msg.isString(0)) {
+		msg.getString(0,cmdStr,16);
+		command.motor(&motor,cmdStr);
+	}
+}
+
+long lastSend = 0;
+OSCMessage bundleIN;
+
+void loop() {
+    OSCBundle bundleOUT;
+
+	// FOC algorithm function
+	motor.move(target_velocity);
+	motor.loopFOC();
+
+
+	int size = Udp.parsePacket();
+	if (size > 0) {
+	    while (size--) {
+	    	bundleIN.fill(Udp.read());
+	    }
+	    if (!bundleIN.hasError()) {
+			bundleIN.dispatch("/mot1/S", motorControl);
+			bundleIN.dispatch("/mot1/C", cmdControl);
+	        IPAddress ip = Udp.remoteIP();
+	        if (!( ip==outIp )) {
+	        	Serial.print("New connection from ");
+	        	Serial.println(ip);
+	        	outIp = ip;
+	        }
+		}
+	    else {
+	    	error = bundleIN.getError();
+	    	Serial.print("error: ");
+	    	Serial.println(error);
+	    }
+		bundleIN.empty();
+	}
+	else { // don't receive and send in the same loop...
+		long now = millis();
+		if (now - lastSend > 100) {
+			int ang = (int)degrees(motor.shaftAngle()) % 360;
+			if (ang<0) ang = 360-abs(ang);
+		    //BOSCBundle's add' returns the OSCMessage so the message's 'add' can be composed together
+			bundleOUT.add("/mot1/A").add((int)ang);
+			bundleOUT.add("/mot1/V").add((int)degrees(motor.shaftVelocity()));
+			Udp.beginPacket(outIp, outPort);
+		    bundleOUT.send(Udp);
+		    Udp.endPacket();
+		    bundleOUT.empty(); // empty the bundle to free room for a new one
+		    lastSend = now;
+		}
+	}
+
+}

firmware/lib/Arduino-FOC/examples/osc_control_examples/osc_esp32_fullcontrol/osc_esp32_fullcontrol.ino

@@ -0,0 +1,351 @@
+/**
+ *
+ * Control 2 motors on ESP32 using OSC
+ *
+ * In this example, all the commands available on the serial command interface are also available via OSC.
+ * Also, the example is for 2 motors. If you have only 1 motor, comment out the lines for the second motor.
+ *
+ *
+ *
+ *
+ */
+
+
+#include "Arduino.h"
+#include <Wire.h>
+#include <SimpleFOC.h>
+#include "ssid.h" // create this file, which defines the constants MYSSID and MYPASS
+#include <Wifi.h>
+#include <WiFiUdp.h>
+#include <ArduinoOTA.h>
+
+#include <OSCMessage.h>
+#include <OSCBundle.h>
+#include <OSCBoards.h>
+
+
+const char ssid[] = MYSSID;					// your network SSID (name)
+const char pass[] = MYPASS;					// your network password
+WiFiUDP Udp;
+IPAddress outIp(192,168,1,13);        		// remote IP (not needed for receive)
+const unsigned int outPort = 8000;          // remote port (not needed for receive)
+const unsigned int inPort = 8000;        	// local port to listen for UDP packets (here's where we send the packets)
+#define POWER_SUPPLY 7.4f
+
+
+
+MagneticSensorI2C sensor2 = MagneticSensorI2C(0x40, 14, 0xFE, 8);
+MagneticSensorI2C sensor1 = MagneticSensorI2C(0x41, 14, 0xFE, 8);
+BLDCMotor motor1 = BLDCMotor(7);
+BLDCMotor motor2 = BLDCMotor(7);
+BLDCDriver3PWM driver1 =  BLDCDriver3PWM(25, 26, 27);
+BLDCDriver3PWM driver2 =  BLDCDriver3PWM(0, 4, 16);
+
+String m1Prefix("/M1");
+String m2Prefix("/M2");
+
+
+// we store seperate set-points for each motor, of course
+float set_point1 = 0.0f;
+float set_point2 = 0.0f;
+
+
+OSCErrorCode error;
+OSCBundle bundleOUT;			// outgoing message, gets re-used
+
+
+
+void setupOTA(const char* hostname) {
+  ArduinoOTA
+    .setPort(8266)
+    .onStart([]() {
+      String type;
+      if (ArduinoOTA.getCommand() == U_FLASH)
+        type = "sketch";
+      else // U_SPIFFS
+        type = "filesystem";
+
+      // NOTE: if updating SPIFFS this would be the place to unmount SPIFFS using SPIFFS.end()
+      Serial.println("Start updating " + type);
+    })
+    .onEnd([]() {
+      Serial.println("\nEnd");
+    })
+    .onProgress([](unsigned int progress, unsigned int total) {
+      Serial.printf("Progress: %u%%\n", (progress / (total / 100)));
+    })
+    .onError([](ota_error_t error) {
+      Serial.printf("Error[%u]: ", error);
+      if (error == OTA_AUTH_ERROR) Serial.println("Auth Failed");
+      else if (error == OTA_BEGIN_ERROR) Serial.println("Begin Failed");
+      else if (error == OTA_CONNECT_ERROR) Serial.println("Connect Failed");
+      else if (error == OTA_RECEIVE_ERROR) Serial.println("Receive Failed");
+      else if (error == OTA_END_ERROR) Serial.println("End Failed");
+    })
+    .setHostname(hostname)
+    .setMdnsEnabled(true);
+  ArduinoOTA.begin();
+}
+
+
+void setup() {
+	// set pins low - motor initialization can take some time,
+	// and you don't want current flowing through the other motor while it happens...
+	pinMode(0,OUTPUT);
+	pinMode(4,OUTPUT);
+	pinMode(16,OUTPUT);
+	pinMode(25,OUTPUT);
+	pinMode(26,OUTPUT);
+	pinMode(27,OUTPUT);
+	digitalWrite(0, 0);
+	digitalWrite(4, 0);
+	digitalWrite(16, 0);
+	digitalWrite(25, 0);
+	digitalWrite(26, 0);
+	digitalWrite(27, 0);
+
+	Serial.begin(115200);
+    delay(200);
+
+	WiFi.begin(ssid, pass);
+
+    Serial.print("Connecting WiFi ");
+    Serial.println(ssid);
+    while (WiFi.status() != WL_CONNECTED) {
+    	delay(500);
+    	Serial.print(".");
+    }
+    Udp.begin(inPort);
+    Serial.println();
+    Serial.print("WiFi connected. Local OSC address: ");
+    Serial.print(WiFi.localIP());
+    Serial.print(":");
+    Serial.println(inPort);
+
+    setupOTA("smallrobot1");
+
+    Serial.println("Initializing motors.");
+
+    Wire.setClock(400000);
+
+	sensor1.init();
+	motor1.linkSensor(&sensor1);
+	driver1.voltage_power_supply = POWER_SUPPLY;
+	driver1.init();
+	motor1.linkDriver(&driver1);
+	motor1.foc_modulation = FOCModulationType::SpaceVectorPWM;
+	motor1.controller = MotionControlType::velocity;
+	motor1.PID_velocity.P = 0.2f;
+	motor1.PID_velocity.I = 20;
+	motor1.PID_velocity.D = 0.001f;
+	motor1.PID_velocity.output_ramp = 1000;
+	motor1.LPF_velocity.Tf = 0.01f;
+	motor1.voltage_limit = POWER_SUPPLY;
+	motor1.P_angle.P = 20;
+	motor1.init();
+	motor1.initFOC();
+
+	sensor2.init();
+	motor2.linkSensor(&sensor2);
+	driver2.voltage_power_supply = POWER_SUPPLY;
+	driver2.init();
+	motor2.linkDriver(&driver2);
+	motor2.foc_modulation = FOCModulationType::SpaceVectorPWM;
+	motor2.controller = MotionControlType::velocity;
+	motor2.PID_velocity.P = 0.2f;
+	motor2.PID_velocity.I = 20;
+	motor2.PID_velocity.D = 0.001f;
+	motor2.PID_velocity.output_ramp = 1000;
+	motor2.LPF_velocity.Tf = 0.01f;
+	motor2.voltage_limit = POWER_SUPPLY;
+	motor2.P_angle.P = 20;
+	motor2.init();
+	motor2.initFOC();
+
+	sendMotorParams(motor1, m1Prefix);
+	sendMotorParams(motor2, m2Prefix);
+	Serial.println("All initialization complete.");
+	_delay(1000);
+}
+
+
+
+
+template <typename T>
+void sendMessage(String& addr, T datum) {
+	bundleOUT.add(addr.c_str()).add(datum);
+	Udp.beginPacket(outIp, outPort);
+	bundleOUT.send(Udp);
+	Udp.endPacket();
+	bundleOUT.empty(); // empty the bundle to free room for a new one
+}
+
+
+
+
+float getNumber(OSCMessage &msg, int index) {
+	if (msg.getType(index)=='i')
+		return msg.getInt(index);
+	if (msg.getType(index)=='f')
+		return msg.getFloat(index);
+	if (msg.getType(index)=='d')
+		return msg.getDouble(index);
+	return 0;
+}
+
+
+
+void motorCmd(OSCMessage &msg, int offset, BLDCMotor& motor, float* set_point, String& prefix){
+	Serial.print("Command for ");
+	Serial.println(prefix);
+	if (msg.fullMatch("/P", offset)) {
+		motor.PID_velocity.P = getNumber(msg,0);
+		sendMessage(prefix+"/P", motor.PID_velocity.P);
+	}
+	else if (msg.fullMatch("/I", offset)) {
+		motor.PID_velocity.I = getNumber(msg,0);
+		sendMessage(prefix+"/I", motor.PID_velocity.I);
+	}
+	else if (msg.fullMatch("/D", offset)) {
+		motor.PID_velocity.D = getNumber(msg,0);
+		sendMessage(prefix+"/D", motor.PID_velocity.D);
+	}
+	else if (msg.fullMatch("/R", offset)) {
+		motor.PID_velocity.output_ramp = getNumber(msg,0);
+		sendMessage(prefix+"/R", motor.PID_velocity.output_ramp);
+	}
+	else if (msg.fullMatch("/F", offset)) {
+		motor.LPF_velocity.Tf = getNumber(msg,0);
+		sendMessage(prefix+"/F", motor.LPF_velocity.Tf);
+	}
+	else if (msg.fullMatch("/K", offset)) {
+		motor.P_angle.P = getNumber(msg,0);
+		sendMessage(prefix+"/K", motor.P_angle.P);
+	}
+	else if (msg.fullMatch("/N", offset)) {
+		motor.velocity_limit = getNumber(msg,0);
+		sendMessage(prefix+"/N", motor.velocity_limit);
+	}
+	else if (msg.fullMatch("/L", offset)) {
+		motor.voltage_limit = getNumber(msg,0);
+		sendMessage(prefix+"/L", motor.voltage_limit);
+	}
+	else if (msg.fullMatch("/C", offset)) {
+		motor.controller = (MotionControlType)msg.getInt(0);
+		sendMessage(prefix+"/C", motor.controller);
+	}
+	else if (msg.fullMatch("/t", offset)) {
+		*set_point = getNumber(msg,0);
+		sendMessage(prefix+"/3", *set_point); // TODO is the set-point the same as motor.target?
+		Serial.print("Setting set-point to ");
+		Serial.println(*set_point);
+	}
+	else if (msg.fullMatch("/o", offset)) {
+		motor.disable();
+	}
+	else if (msg.fullMatch("/e", offset)) {
+		motor.enable();
+	}
+	else if (msg.fullMatch("/params", offset)) {
+		sendMotorParams(motor, prefix);
+	}
+	else if (msg.fullMatch("/reinit", offset)) {
+		motor.disable();
+		motor.init();
+		motor.initFOC();
+	}
+
+}
+
+
+
+
+
+
+void sendMotorMonitoring() {
+	//Serial.println("Sending monitoring...");
+	bundleOUT.add("/M1/0").add(motor1.voltage.q);
+	bundleOUT.add("/M1/1").add(motor1.shaft_velocity);
+	bundleOUT.add("/M1/2").add(motor1.shaft_angle);
+	bundleOUT.add("/M1/3").add(motor1.target);
+	bundleOUT.add("/M2/0").add(motor2.voltage.q);
+	bundleOUT.add("/M2/1").add(motor2.shaft_velocity);
+	bundleOUT.add("/M2/2").add(motor2.shaft_angle);
+	bundleOUT.add("/M2/3").add(motor2.target);
+	// TODO pack it into one message bundleOUT.add("/M2/i").add(motor2.voltage_q).add(motor2.shaft_velocity).add(motor2.shaft_angle).add(motor2.target);
+	Udp.beginPacket(outIp, outPort);
+	bundleOUT.send(Udp);
+	Udp.endPacket();
+	bundleOUT.empty(); // empty the bundle to free room for a new one
+}
+
+
+
+void sendMotorParams(BLDCMotor& motor, String& prefix) {
+	bundleOUT.add((prefix+"/P").c_str()).add(motor.PID_velocity.P);
+	bundleOUT.add((prefix+"/I").c_str()).add(motor.PID_velocity.I);
+	bundleOUT.add((prefix+"/D").c_str()).add(motor.PID_velocity.D);
+	bundleOUT.add((prefix+"/R").c_str()).add(motor.PID_velocity.output_ramp);
+	bundleOUT.add((prefix+"/F").c_str()).add(motor.LPF_velocity.Tf);
+	bundleOUT.add((prefix+"/K").c_str()).add(motor.P_angle.P);
+	bundleOUT.add((prefix+"/N").c_str()).add(motor.velocity_limit);
+	bundleOUT.add((prefix+"/L").c_str()).add(motor.voltage_limit);
+	bundleOUT.add((prefix+"/C").c_str()).add(motor.controller);
+	Udp.beginPacket(outIp, outPort);
+	bundleOUT.send(Udp);
+	Udp.endPacket();
+	bundleOUT.empty(); // empty the bundle to free room for a new one
+}
+
+
+
+
+
+long lastSend = 0;
+OSCMessage bundleIN;
+int size;
+
+
+void loop() {
+
+	// FOC algorithm function
+	motor1.loopFOC();
+	motor1.move(set_point1);
+	motor2.loopFOC();
+	motor2.move(set_point2);
+
+
+	int size = Udp.parsePacket();
+	if (size > 0) {
+	    while (size--) {
+	    	bundleIN.fill(Udp.read());
+	    }
+	    if (!bundleIN.hasError()) {
+			bundleIN.route("/M1", [](OSCMessage& msg, int offset){ motorCmd(msg, offset, motor1, &set_point1, m1Prefix); }, 0);
+			bundleIN.route("/M2", [](OSCMessage& msg, int offset){ motorCmd(msg, offset, motor2, &set_point2, m2Prefix); }, 0);
+	        IPAddress ip = Udp.remoteIP();
+	        if (!( ip==outIp )) {
+	        	Serial.print("New connection from ");
+	        	Serial.println(ip);
+	        	outIp = ip;
+	        	sendMotorParams(motor1, m1Prefix);
+	        	sendMotorParams(motor2, m2Prefix);
+	        }
+		}
+	    else {
+	    	error = bundleIN.getError();
+	    	Serial.print("error: ");
+	    	Serial.println(error);
+	    }
+		bundleIN.empty();
+	}
+	else { // don't receive and send in the same loop...
+		long now = millis();
+		if (now - lastSend > 100) {
+			sendMotorMonitoring();
+		    lastSend = now;
+		}
+	}
+
+	ArduinoOTA.handle();
+}

firmware/lib/Arduino-FOC/examples/osc_control_examples/osc_esp32_fullcontrol/osc_fullcontrol.pd

@@ -0,0 +1,384 @@
+#N struct text float x float y text t;
+#N canvas 1842 146 1519 1052 12;
+#X obj 501 697 cnv 15 193 209 empty empty Tuning\ M1 20 12 0 14 #e0e0e0
+#404040 0;
+#X obj 787 477 mrpeach/unpackOSC;
+#X obj 132 586 print oscin;
+#X obj 787 504 print oscout;
+#X obj 723 449 spigot;
+#X obj 774 452 tgl 15 1 empty empty Debug 17 7 0 10 #fcfcfc #000000
+#000000 1 1;
+#X msg 591 503 disconnect;
+#X obj 132 558 spigot;
+#X obj 114 562 tgl 15 1 empty empty Debug -34 6 0 10 #fcfcfc #000000
+#000000 0 1;
+#X obj 132 531 mrpeach/unpackOSC;
+#X obj 673 477 mrpeach/udpsend;
+#X obj 132 496 mrpeach/udpreceive 8000;
+#X obj 673 422 mrpeach/packOSC;
+#X obj 1043 150 hsl 249 25 -5000 5000 0 0 empty empty Set\ Point\ M1
+-2 -8 0 10 #fcfcfc #000000 #000000 0 1;
+#X obj 1044 197 hsl 247 25 -15 15 0 0 empty empty Set\ Point\ M2 -2
+-8 0 10 #fcfcfc #000000 #000000 12300 1;
+#X obj 120 153 bng 53 250 50 0 empty empty STOP 14 26 0 10 #fc1204
+#000000 #ffffff;
+#X obj 200 102 * 0.10472;
+#X obj 202 169 hsl 235 30 -520 520 0 0 empty empty Set\ point\ (Velocity)
+-2 -8 0 10 #fcfcfc #000000 #000000 11500 1;
+#X obj 673 449 spigot;
+#X obj 653 452 tgl 15 1 empty empty Enable\ send -71 6 0 10 #fcfcfc
+#000000 #000000 1 1;
+#X msg 484 478 connect 192.168.1.43 8000;
+#X obj 673 395 speedlim 100;
+#X obj 231 573 mrpeach/routeOSC /M1 /M2;
+#X obj 231 610 mrpeach/routeOSC /0 /1 /2 /3 /P /I /D /R /F /K /N /L
+/C;
+#X obj 326 844 hsl 101 29 0 6.3 0 0 empty empty rad -2 -8 0 10 #fcfcfc
+#000000 #000000 0 1;
+#X obj 326 812 % 6.28319;
+#X obj 326 704 nbx 7 27 -1e+37 1e+37 0 0 empty empty V -5 0 0 18 #fcfcfc
+#000000 #000000 0.137548 256 3;
+#X obj 113 804 nbx 7 27 -1e+37 1e+37 0 0 empty empty Set\ point 0 -15
+0 18 #fcfcfc #000000 #000000 0 256 3;
+#X obj 326 776 nbx 7 27 -1e+37 1e+37 0 0 empty empty Position -80 0
+0 18 #fcfcfc #000000 #000000 -348.637 256 3;
+#X obj 326 740 nbx 7 27 -1e+37 1e+37 0 0 empty empty Velocity -80 0
+0 18 #fcfcfc #000000 #000000 0.0649328 256 3;
+#X obj 538 747 nbx 5 14 -1e+37 1e+37 0 0 empty empty P\ gain 0 -8 0
+10 #fcfcfc #000000 #000000 0.2 256 3;
+#X obj 537 776 nbx 5 14 -1e+37 1e+37 0 0 empty empty I\ gain 0 -8 0
+10 #fcfcfc #000000 #000000 20 256 3;
+#X obj 538 808 nbx 5 14 -1e+37 1e+37 0 0 empty empty D\ gain 0 -8 0
+10 #fcfcfc #000000 #000000 0.0001 256 3;
+#X obj 539 838 nbx 5 14 -1e+37 1e+37 0 0 empty empty V\ Ramp 0 -8 0
+10 #fcfcfc #000000 #000000 1000 256 3;
+#X obj 539 868 nbx 5 14 -1e+37 1e+37 0 0 empty empty LP\ time 0 -8
+0 10 #fcfcfc #000000 #000000 0.01 256 3;
+#X obj 605 747 nbx 5 14 -1e+37 1e+37 0 0 empty empty angP\ gain 0 -8
+0 10 #fcfcfc #000000 #000000 20 256 3;
+#X obj 608 779 nbx 5 14 -1e+37 1e+37 0 0 empty empty angP\ lim 0 -8
+0 10 #fcfcfc #000000 #000000 20 256 3;
+#X obj 609 836 nbx 5 14 -1e+37 1e+37 0 0 empty empty V\ limit 0 -8
+0 10 #fcfcfc #000000 #000000 8 256 3;
+#X obj 122 278 hradio 53 0 1 3 motorselect empty empty 0 -8 0 10 #fcfcfc
+#000000 #000000 0;
+#X scalar text 172 305 \; \;;
+#X obj 122 372 select 0 1 2;
+#X msg 122 399 prefix /M?;
+#X msg 149 423 prefix /M1;
+#X msg 178 445 prefix /M2;
+#X obj 789 422 mrpeach/packOSC;
+#X obj 789 395 speedlim 100;
+#X msg 592 531 typetags \$1;
+#X obj 571 535 tgl 15 1 empty empty OSC\ type\ tags -80 7 0 10 #ffffff
+#000000 #000000 1 1;
+#X text 63 286 Choose Motor, f 7;
+#X text 137 339 All, f 4;
+#X text 191 339 M1, f 4;
+#X text 247 339 M2, f 4;
+#X text 152 77 RPM;
+#X obj 1008 148 bng 29 250 50 0 empty empty STOP 2 13 0 10 #fc1204
+#000000 #ffffff;
+#X obj 1009 195 bng 29 250 50 0 empty empty STOP 2 13 0 10 #fc1204
+#000000 #ffffff;
+#X obj 74 696 hradio 53 0 1 3 empty empty empty 0 -8 0 10 #fcfcfc #000000
+#000000 1;
+#X text 8 711 Control;
+#X text 67 752 Voltage;
+#X text 124 753 Velocity;
+#X text 189 754 Position;
+#X obj 312 101 /;
+#X obj 312 129 * 6.28319;
+#X text 424 75 cm, f 4;
+#X text 393 51 Wheel diameter;
+#X obj 394 100 * 0.0314159;
+#X msg 348 636 set \$1;
+#X msg 376 637 set \$1;
+#X msg 407 636 set \$1;
+#X msg 435 636 set \$1;
+#X msg 466 636 set \$1;
+#X msg 495 636 set \$1;
+#X msg 524 637 set \$1;
+#X msg 554 637 set \$1;
+#X msg 583 637 set \$1;
+#X obj 75 898 s osctargetedout;
+#X obj 75 866 prepend /M1/C;
+#X obj 773 304 r osctargetedout;
+#X obj 593 912 prepend /M1/K;
+#X obj 602 925 prepend /M1/N;
+#X obj 609 936 prepend /M1/L;
+#X obj 564 976 s osctargetedout;
+#X obj 1271 697 cnv 15 193 209 empty empty Tuning\ M2 20 12 0 14 #e0e0e0
+#404040 0;
+#X obj 1001 610 mrpeach/routeOSC /0 /1 /2 /3 /P /I /D /R /F /K /N /L
+/C;
+#X obj 1096 844 hsl 101 29 0 6.3 0 0 empty empty rad -2 -8 0 10 #fcfcfc
+#000000 #000000 0 1;
+#X obj 1096 812 % 6.28319;
+#X obj 1096 704 nbx 7 27 -1e+37 1e+37 0 0 empty empty V -5 0 0 18 #fcfcfc
+#000000 #000000 -0.13018 256 3;
+#X obj 883 804 nbx 7 27 -1e+37 1e+37 0 0 setpointin2 empty Set\ point
+0 -15 0 18 #fcfcfc #000000 #000000 0 256 3;
+#X obj 1096 776 nbx 7 27 -1e+37 1e+37 0 0 empty empty Position -80
+0 0 18 #fcfcfc #000000 #000000 -346.273 256 3;
+#X obj 1096 740 nbx 7 27 -1e+37 1e+37 0 0 empty empty Velocity -80
+0 0 18 #fcfcfc #000000 #000000 0.0657255 256 3;
+#X obj 1308 747 nbx 5 14 -1e+37 1e+37 0 0 empty empty P\ gain 0 -8
+0 10 #fcfcfc #000000 #000000 0.2 256 3;
+#X obj 1308 778 nbx 5 14 -1e+37 1e+37 0 0 empty empty I\ gain 0 -8
+0 10 #fcfcfc #000000 #000000 20 256 3;
+#X obj 1308 808 nbx 5 14 -1e+37 1e+37 0 0 empty empty D\ gain 0 -8
+0 10 #fcfcfc #000000 #000000 0.001 256 3;
+#X obj 1309 838 nbx 5 14 -1e+37 1e+37 0 0 empty empty V\ Ramp 0 -8
+0 10 #fcfcfc #000000 #000000 1000 256 3;
+#X obj 1309 868 nbx 5 14 -1e+37 1e+37 0 0 empty empty LP\ time 0 -8
+0 10 #fcfcfc #000000 #000000 0.01 256 3;
+#X obj 1375 747 nbx 5 14 -1e+37 1e+37 0 0 empty empty angP\ gain 0
+-8 0 10 #fcfcfc #000000 #000000 20 256 3;
+#X obj 1378 779 nbx 5 14 -1e+37 1e+37 0 0 empty empty angP\ lim 0 -8
+0 10 #fcfcfc #000000 #000000 20 256 3;
+#X obj 1379 836 nbx 5 14 -1e+37 1e+37 0 0 empty empty V\ limit 0 -8
+0 10 #fcfcfc #000000 #000000 8 256 3;
+#X obj 844 696 hradio 53 0 1 3 empty empty empty 0 -8 0 10 #fcfcfc
+#000000 #000000 1;
+#X text 778 711 Control;
+#X text 837 752 Voltage;
+#X text 894 753 Velocity;
+#X text 959 754 Position;
+#X msg 1118 636 set \$1;
+#X msg 1146 637 set \$1;
+#X msg 1177 636 set \$1;
+#X msg 1205 636 set \$1;
+#X msg 1236 636 set \$1;
+#X msg 1265 636 set \$1;
+#X msg 1294 637 set \$1;
+#X msg 1324 637 set \$1;
+#X msg 1353 637 set \$1;
+#X obj 845 898 s osctargetedout;
+#X obj 1325 976 s osctargetedout;
+#X obj 1379 936 prepend /M2/L;
+#X obj 1372 925 prepend /M2/N;
+#X obj 1364 912 prepend /M2/K;
+#X obj 1296 947 prepend /M2/F;
+#X obj 1291 940 prepend /M2/R;
+#X obj 1287 933 prepend /M2/D;
+#X obj 1281 925 prepend /M2/I;
+#X obj 1276 917 prepend /M2/P;
+#X obj 526 947 prepend /M1/F;
+#X obj 521 940 prepend /M1/R;
+#X obj 517 933 prepend /M1/D;
+#X obj 511 925 prepend /M1/I;
+#X obj 506 917 prepend /M1/P;
+#X obj 393 78 nbx 2 14 0 50 0 1 empty empty empty 0 -8 0 10 #fcfcfc
+#000000 #000000 6 256 2;
+#X obj 299 71 nbx 5 24 -20 20 0 0 empty empty empty 0 -8 0 10 #fcfcfc
+#000000 #000000 -0.266666 256 2;
+#X obj 179 74 nbx 7 23 -5000 5000 0 0 empty empty empty 0 -8 0 10 #fcfcfc
+#000000 #000000 -84.8824 256 2;
+#X obj 577 169 hsl 104 30 -3.1415 3.1415 0 0 empty empty Set\ point\ (Position)
+-2 -8 0 10 #fcfcfc #000000 #000000 10300 1;
+#X obj 708 68 vsl 31 122 0 12 0 0 empty empty Set\ point\ (Voltage)
+0 -9 0 10 #fcfcfc #000000 #000000 0 1;
+#X obj 246 13 / 0.10472;
+#X msg 318 13 set \$1;
+#X obj 457 11 *;
+#X obj 384 11 / 6.28319;
+#X obj 547 96 /;
+#X obj 547 125 * 6.28319;
+#X obj 547 66 nbx 5 24 -100 100 0 0 empty empty empty 0 -8 0 10 #fcfcfc
+#000000 #000000 0.0599999 256 2;
+#X text 534 68 m;
+#X obj 20 6 r setpointin;
+#X obj 17 36 r setpointin2;
+#X obj 120 6 spigot;
+#X obj 120 42 spigot;
+#X obj 16 63 r motorselect;
+#X obj 1339 99 r setpointin;
+#X obj 1345 150 r setpointin2;
+#X msg 493 11 set \$1;
+#X obj 22 103 > 1;
+#X obj 59 103 <= 1;
+#X msg 1110 529 /M?/params;
+#X obj 1110 502 loadbang;
+#X msg 1339 126 set \$1;
+#X msg 1343 174 set \$1;
+#X obj 639 9 *;
+#X obj 566 9 / 6.28319;
+#X msg 675 9 set \$1;
+#X obj 483 448 loadbang;
+#X text 284 74 m/s;
+#X obj 845 866 prepend /M2/C;
+#X msg 163 226 sendtyped /M?/t f 0;
+#X obj 458 224 prepend sendtyped /t f;
+#X msg 991 301 sendtyped /M2/t f 0;
+#X msg 983 274 sendtyped /M1/t f 0;
+#X obj 1051 286 prepend sendtyped /M1/t f;
+#X obj 1047 322 prepend sendtyped /M2/t f;
+#X obj 475 171 nbx 7 21 -1e+37 1e+37 0 0 empty empty rad 0 -8 0 10
+#fcfcfc #000000 #000000 2 256 2;
+#X connect 1 0 3 0;
+#X connect 4 0 1 0;
+#X connect 5 0 4 1;
+#X connect 6 0 10 0;
+#X connect 7 0 2 0;
+#X connect 8 0 7 1;
+#X connect 9 0 7 0;
+#X connect 9 0 22 0;
+#X connect 11 0 9 0;
+#X connect 12 0 18 0;
+#X connect 12 0 4 0;
+#X connect 13 0 163 0;
+#X connect 14 0 164 0;
+#X connect 15 0 159 0;
+#X connect 16 0 17 0;
+#X connect 17 0 131 0;
+#X connect 17 0 134 0;
+#X connect 17 0 160 0;
+#X connect 18 0 10 0;
+#X connect 19 0 18 1;
+#X connect 20 0 10 0;
+#X connect 21 0 12 0;
+#X connect 22 0 23 0;
+#X connect 22 1 82 0;
+#X connect 23 0 26 0;
+#X connect 23 1 29 0;
+#X connect 23 2 28 0;
+#X connect 23 3 27 0;
+#X connect 23 4 65 0;
+#X connect 23 5 66 0;
+#X connect 23 6 67 0;
+#X connect 23 7 68 0;
+#X connect 23 8 69 0;
+#X connect 23 9 70 0;
+#X connect 23 10 71 0;
+#X connect 23 11 72 0;
+#X connect 23 12 73 0;
+#X connect 25 0 24 0;
+#X connect 28 0 25 0;
+#X connect 30 0 125 0;
+#X connect 31 0 124 0;
+#X connect 32 0 123 0;
+#X connect 33 0 122 0;
+#X connect 34 0 121 0;
+#X connect 35 0 77 0;
+#X connect 36 0 78 0;
+#X connect 37 0 79 0;
+#X connect 38 0 40 0;
+#X connect 40 0 41 0;
+#X connect 40 1 42 0;
+#X connect 40 2 43 0;
+#X connect 41 0 12 0;
+#X connect 42 0 12 0;
+#X connect 43 0 12 0;
+#X connect 44 0 18 0;
+#X connect 44 0 4 0;
+#X connect 45 0 44 0;
+#X connect 46 0 12 0;
+#X connect 47 0 46 0;
+#X connect 53 0 162 0;
+#X connect 54 0 161 0;
+#X connect 55 0 75 0;
+#X connect 60 0 61 0;
+#X connect 61 0 17 0;
+#X connect 64 0 60 1;
+#X connect 64 0 133 1;
+#X connect 64 0 135 1;
+#X connect 64 0 153 1;
+#X connect 65 0 30 0;
+#X connect 66 0 31 0;
+#X connect 67 0 32 0;
+#X connect 68 0 33 0;
+#X connect 69 0 34 0;
+#X connect 70 0 35 0;
+#X connect 71 0 36 0;
+#X connect 72 0 37 0;
+#X connect 73 0 55 0;
+#X connect 75 0 74 0;
+#X connect 76 0 45 0;
+#X connect 77 0 80 0;
+#X connect 78 0 80 0;
+#X connect 79 0 80 0;
+#X connect 82 0 85 0;
+#X connect 82 1 88 0;
+#X connect 82 2 87 0;
+#X connect 82 3 86 0;
+#X connect 82 4 102 0;
+#X connect 82 5 103 0;
+#X connect 82 6 104 0;
+#X connect 82 7 105 0;
+#X connect 82 8 106 0;
+#X connect 82 9 107 0;
+#X connect 82 10 108 0;
+#X connect 82 11 109 0;
+#X connect 82 12 110 0;
+#X connect 84 0 83 0;
+#X connect 87 0 84 0;
+#X connect 89 0 120 0;
+#X connect 90 0 119 0;
+#X connect 91 0 118 0;
+#X connect 92 0 117 0;
+#X connect 93 0 116 0;
+#X connect 94 0 115 0;
+#X connect 95 0 114 0;
+#X connect 96 0 113 0;
+#X connect 97 0 158 0;
+#X connect 102 0 89 0;
+#X connect 103 0 90 0;
+#X connect 104 0 91 0;
+#X connect 105 0 92 0;
+#X connect 106 0 93 0;
+#X connect 107 0 94 0;
+#X connect 108 0 95 0;
+#X connect 109 0 96 0;
+#X connect 110 0 97 0;
+#X connect 113 0 112 0;
+#X connect 114 0 112 0;
+#X connect 115 0 112 0;
+#X connect 116 0 112 0;
+#X connect 117 0 112 0;
+#X connect 118 0 112 0;
+#X connect 119 0 112 0;
+#X connect 120 0 112 0;
+#X connect 121 0 80 0;
+#X connect 122 0 80 0;
+#X connect 123 0 80 0;
+#X connect 124 0 80 0;
+#X connect 125 0 80 0;
+#X connect 126 0 64 0;
+#X connect 127 0 60 0;
+#X connect 128 0 16 0;
+#X connect 129 0 165 0;
+#X connect 130 0 160 0;
+#X connect 131 0 132 0;
+#X connect 132 0 128 0;
+#X connect 133 0 146 0;
+#X connect 134 0 133 0;
+#X connect 135 0 136 0;
+#X connect 136 0 165 0;
+#X connect 137 0 135 0;
+#X connect 139 0 141 0;
+#X connect 140 0 142 0;
+#X connect 143 0 147 0;
+#X connect 143 0 148 0;
+#X connect 144 0 151 0;
+#X connect 145 0 152 0;
+#X connect 146 0 127 0;
+#X connect 147 0 142 1;
+#X connect 148 0 141 1;
+#X connect 149 0 44 0;
+#X connect 150 0 149 0;
+#X connect 151 0 13 0;
+#X connect 152 0 14 0;
+#X connect 153 0 155 0;
+#X connect 154 0 153 0;
+#X connect 155 0 137 0;
+#X connect 156 0 20 0;
+#X connect 158 0 111 0;
+#X connect 159 0 44 0;
+#X connect 160 0 21 0;
+#X connect 161 0 44 0;
+#X connect 162 0 44 0;
+#X connect 163 0 45 0;
+#X connect 164 0 45 0;
+#X connect 165 0 160 0;
+#X connect 165 0 154 0;

firmware/lib/Arduino-FOC/examples/osc_control_examples/osc_esp32_fullcontrol/ssid.h_rename_me

@@ -0,0 +1,4 @@
+
+#define MYSSID "yourssid"
+#define MYPASS "yourpassword"
+