120 lines
3.3 KiB
C
120 lines
3.3 KiB
C
/*!
|
|
* @file SimpleFOC.h
|
|
*
|
|
* @mainpage Simple Field Oriented Control BLDC motor control library
|
|
*
|
|
* @section intro_sec Introduction
|
|
*
|
|
* Proper low-cost and low-power FOC supporting boards are very hard to find these days and even may not exist.<br> Even harder to find is a stable and simple FOC algorithm code capable of running on Arduino devices. Therefore this is an attempt to:
|
|
* - Demystify FOC algorithm and make a robust but simple Arduino library: Arduino SimpleFOC library
|
|
* - Develop a modular BLDC driver board: Arduino SimpleFOC shield.
|
|
*
|
|
* @section features Features
|
|
* - Arduino compatible: Arduino library code
|
|
* - Easy to setup and configure:
|
|
* - Easy hardware configuration
|
|
* - Easy tuning the control loops
|
|
* - Modular:
|
|
* - Supports as many sensors , BLDC motors and driver boards as possible
|
|
* - Supports as many application requirements as possible
|
|
* - Plug & play: Arduino SimpleFOC shield
|
|
*
|
|
* @section dependencies Supported Hardware
|
|
* - Motors
|
|
* - BLDC motors
|
|
* - Stepper motors
|
|
* - Drivers
|
|
* - BLDC drivers
|
|
* - Gimbal drivers
|
|
* - Stepper drivers
|
|
* - Position sensors
|
|
* - Encoders
|
|
* - Magnetic sensors
|
|
* - Hall sensors
|
|
* - Open-loop control
|
|
* - Microcontrollers
|
|
* - Arduino
|
|
* - STM32
|
|
* - ESP32
|
|
* - Teensy
|
|
*
|
|
* @section example_code Example code
|
|
* @code
|
|
#include <SimpleFOC.h>
|
|
|
|
// BLDCMotor( pole_pairs )
|
|
BLDCMotor motor = BLDCMotor(11);
|
|
// BLDCDriver( pin_pwmA, pin_pwmB, pin_pwmC, enable (optional) )
|
|
BLDCDriver3PWM driver = BLDCDriver3PWM(9, 10, 11, 8);
|
|
// Encoder(pin_A, pin_B, CPR)
|
|
Encoder encoder = Encoder(2, 3, 2048);
|
|
// channel A and B callbacks
|
|
void doA(){encoder.handleA();}
|
|
void doB(){encoder.handleB();}
|
|
|
|
|
|
void setup() {
|
|
// initialize encoder hardware
|
|
encoder.init();
|
|
// hardware interrupt enable
|
|
encoder.enableInterrupts(doA, doB);
|
|
// link the motor to the sensor
|
|
motor.linkSensor(&encoder);
|
|
|
|
// power supply voltage [V]
|
|
driver.voltage_power_supply = 12;
|
|
// initialise driver hardware
|
|
driver.init();
|
|
// link driver
|
|
motor.linkDriver(&driver);
|
|
|
|
// set control loop type to be used
|
|
motor.controller = MotionControlType::velocity;
|
|
// initialize motor
|
|
motor.init();
|
|
|
|
// align encoder and start FOC
|
|
motor.initFOC();
|
|
}
|
|
|
|
void loop() {
|
|
// FOC algorithm function
|
|
motor.loopFOC();
|
|
|
|
// velocity control loop function
|
|
// setting the target velocity or 2rad/s
|
|
motor.move(2);
|
|
}
|
|
* @endcode
|
|
*
|
|
* @section license License
|
|
*
|
|
* MIT license, all text here must be included in any redistribution.
|
|
*
|
|
*/
|
|
|
|
#ifndef SIMPLEFOC_H
|
|
#define SIMPLEFOC_H
|
|
|
|
#include "BLDCMotor.h"
|
|
#include "StepperMotor.h"
|
|
#include "sensors/Encoder.h"
|
|
#include "sensors/MagneticSensorSPI.h"
|
|
#include "sensors/MagneticSensorI2C.h"
|
|
#include "sensors/MagneticSensorAnalog.h"
|
|
#include "sensors/MagneticSensorPWM.h"
|
|
#include "sensors/HallSensor.h"
|
|
#include "sensors/GenericSensor.h"
|
|
#include "drivers/BLDCDriver3PWM.h"
|
|
#include "drivers/BLDCDriver6PWM.h"
|
|
#include "drivers/StepperDriver4PWM.h"
|
|
#include "drivers/StepperDriver2PWM.h"
|
|
#include "current_sense/InlineCurrentSense.h"
|
|
#include "current_sense/LowsideCurrentSense.h"
|
|
#include "current_sense/GenericCurrentSense.h"
|
|
#include "communication/Commander.h"
|
|
#include "communication/StepDirListener.h"
|
|
#include "communication/SimpleFOCDebug.h"
|
|
|
|
#endif
|