86 lines
2.2 KiB
C++
86 lines
2.2 KiB
C++
/**
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* Torque control example using voltage control loop.
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*
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* Most of the low-end BLDC driver boards doesn't have current measurement therefore SimpleFOC offers
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* you a way to control motor torque by setting the voltage to the motor instead hte current.
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*
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* This makes the BLDC motor effectively a DC motor, and you can use it in a same way.
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*/
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#include <SimpleFOC.h>
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#include <SimpleFOCDrivers.h>
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#include "encoders/calibrated/CalibratedSensor.h"
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// magnetic sensor instance - SPI
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MagneticSensorSPI sensor = MagneticSensorSPI(AS5048_SPI, PB6);
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// BLDC motor & driver instance
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BLDCMotor motor = BLDCMotor(11);
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BLDCDriver3PWM driver = BLDCDriver3PWM(PB4,PC7,PB10,PA9);
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// instantiate the calibrated sensor object
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CalibratedSensor sensor_calibrated = CalibratedSensor(sensor);
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// voltage set point variable
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float target_voltage = 2;
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// instantiate the commander
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Commander command = Commander(Serial);
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void doTarget(char* cmd) { command.scalar(&target_voltage, cmd); }
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void setup() {
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SPI.setMISO(PB14);
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SPI.setMOSI(PB15);
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SPI.setSCLK(PB13);
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sensor.init();
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// Link motor to sensor
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motor.linkSensor(&sensor);
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// power supply voltage
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driver.voltage_power_supply = 20;
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driver.init();
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motor.linkDriver(&driver);
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// aligning voltage
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motor.voltage_sensor_align = 8;
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motor.voltage_limit = 20;
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// set motion control loop to be used
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motor.controller = MotionControlType::torque;
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// use monitoring with serial
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Serial.begin(115200);
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// comment out if not needed
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motor.useMonitoring(Serial);
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motor.monitor_variables = _MON_VEL;
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motor.monitor_downsample = 10; // default 10
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// initialize motor
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motor.init();
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// set voltage to run calibration
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sensor_calibrated.voltage_calibration = 6;
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// Running calibration
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sensor_calibrated.calibrate(motor);
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//Serial.println("Calibrating Sensor Done.");
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// Linking sensor to motor object
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motor.linkSensor(&sensor_calibrated);
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// calibrated init FOC
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motor.initFOC();
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// add target command T
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command.add('T', doTarget, "target voltage");
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Serial.println(F("Motor ready."));
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Serial.println(F("Set the target voltage using serial terminal:"));
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_delay(1000);
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}
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void loop() {
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motor.loopFOC();
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motor.move(target_voltage);
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command.run();
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motor.monitor();
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} |