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Merge pull request #422 from simplefoc/feat_new_cs_align
Feat new cs align
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examples/hardware_specific_examples/SimpleFOCMini/open_loop/open_loop.ino
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| /** | ||
| * | ||
| * SimpleFOCMini motor control example | ||
| * | ||
| * For Arduino UNO or the other boards with the UNO headers | ||
| * the most convenient way to use the board is to stack it to the pins: | ||
| * - 12 - ENABLE | ||
| * - 11 - IN1 | ||
| * - 10 - IN2 | ||
| * - 9 - IN3 | ||
| * | ||
| */ | ||
| #include <SimpleFOC.h> | ||
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| // BLDC motor & driver instance | ||
| BLDCMotor motor = BLDCMotor(11); | ||
| // BLDCDriver3PWM driver = BLDCDriver3PWM(11, 10, 9, 8); // mini v1.0 | ||
| BLDCDriver3PWM driver = BLDCDriver3PWM(9, 10, 11, 12); // mini v1.1 | ||
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| // instantiate the commander | ||
| Commander command = Commander(Serial); | ||
| void doMotor(char* cmd) { command.motor(&motor, cmd); } | ||
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| void setup() { | ||
| // use monitoring with serial | ||
| Serial.begin(115200); | ||
| // enable more verbose output for debugging | ||
| // comment out if not needed | ||
| SimpleFOCDebug::enable(&Serial); | ||
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| // if SimpleFOCMini is stacked in arduino headers | ||
| // on pins 12,11,10,9,8 | ||
| // pin 12 is used as ground | ||
| pinMode(12,OUTPUT); | ||
| pinMode(12,LOW); | ||
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| // driver config | ||
| // power supply voltage [V] | ||
| driver.voltage_power_supply = 12; | ||
| driver.init(); | ||
| // link the motor and the driver | ||
| motor.linkDriver(&driver); | ||
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| // aligning voltage [V] | ||
| motor.voltage_sensor_align = 3; | ||
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| // set motion control loop to be used | ||
| motor.controller = MotionControlType::velocity_openloop; | ||
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| // default voltage_power_supply | ||
| motor.voltage_limit = 2; // Volts | ||
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| // comment out if not needed | ||
| motor.useMonitoring(Serial); | ||
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| // initialize motor | ||
| motor.init(); | ||
| // align encoder and start FOC | ||
| motor.initFOC(); | ||
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| // add target command M | ||
| command.add('M', doMotor, "motor"); | ||
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| Serial.println(F("Motor ready.")); | ||
| Serial.println(F("Set the target velocity using serial terminal:")); | ||
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| motor.target = 1; //initial target velocity 1 rad/s | ||
| Serial.println("Target velocity: 1 rad/s"); | ||
| Serial.println("Voltage limit 2V"); | ||
| _delay(1000); | ||
| } | ||
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| void loop() { | ||
| // main FOC algorithm function | ||
| // the faster you run this function the better | ||
| // Arduino UNO loop ~1kHz | ||
| // Bluepill loop ~10kHz | ||
| motor.loopFOC(); | ||
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| // 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(); | ||
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| // function intended to be used with serial plotter to monitor motor variables | ||
| // significantly slowing the execution down!!!! | ||
| // motor.monitor(); | ||
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| // user communication | ||
| command.run(); | ||
| } |
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