Add a MotionControlMode::angle_nocascade which uses a single PID for angle control

src/BLDCMotor.cpp

@@ -86,11 +86,14 @@ void BLDCMotor::init() {
   if(_isset(phase_resistance) || torque_controller != TorqueControlType::voltage){
     // velocity control loop controls current
     PID_velocity.limit = current_limit;
+    P_angle.limit = current_limit; // for MotionControlType::angle_nocascade
   }else{
     // velocity control loop controls the voltage
     PID_velocity.limit = voltage_limit;
+    P_angle.limit = voltage_limit; // for MotionControlType::angle_nocascade
   }
-  P_angle.limit = velocity_limit;
+  if (controller!=MotionControlType::angle_nocascade) // if not MotionControlType::angle_nocascade angle PID output is limited by velocity limit
+    P_angle.limit = velocity_limit;
 
   // if using open loop control, set a CW as the default direction if not already set
   if ((controller==MotionControlType::angle_openloop
@@ -423,16 +426,23 @@ void BLDCMotor::move(float new_target) {
       }
       break;
     case MotionControlType::angle:
+    case MotionControlType::angle_nocascade:
       // TODO sensor precision: this calculation is not numerically precise. The target value cannot express precise positions when
       //                        the angles are large. This results in not being able to command small changes at high position values.
       //                        to solve this, the delta-angle has to be calculated in a numerically precise way.
       // angle set point
       shaft_angle_sp = target;
-      // calculate velocity set point
-      shaft_velocity_sp = feed_forward_velocity + P_angle( shaft_angle_sp - shaft_angle );
-      shaft_velocity_sp = _constrain(shaft_velocity_sp,-velocity_limit, velocity_limit);
-      // calculate the torque command - sensor precision: this calculation is ok, but based on bad value from previous calculation
-      current_sp = PID_velocity(shaft_velocity_sp - shaft_velocity); // if voltage torque control
+      if (controller == MotionControlType::angle) {
+        // calculate velocity set point
+        shaft_velocity_sp = feed_forward_velocity + P_angle( shaft_angle_sp - shaft_angle );
+        shaft_velocity_sp = _constrain(shaft_velocity_sp,-velocity_limit, velocity_limit);
+        // calculate the torque command - sensor precision: this calculation is ok, but based on bad value from previous calculation
+        current_sp = PID_velocity(shaft_velocity_sp - shaft_velocity); // if voltage torque control
+      }
+      else {
+        // no velocity control
+        current_sp = P_angle( shaft_angle_sp - shaft_angle );
+      }
       // if torque controlled through voltage
       if(torque_controller == TorqueControlType::voltage){
         // use voltage if phase-resistance not provided

src/StepperMotor.cpp

@@ -51,10 +51,13 @@ void StepperMotor::init() {
   if(_isset(phase_resistance)){
     // velocity control loop controls current
     PID_velocity.limit = current_limit;
+    P_angle.limit = current_limit; // for MotionControlType::angle_nocascade
   }else{
     PID_velocity.limit = voltage_limit;
+    P_angle.limit = voltage_limit; // for MotionControlType::angle_nocascade
   }
-  P_angle.limit = velocity_limit;
+  if (controller!=MotionControlType::angle_nocascade) // if not MotionControlType::angle_nocascade angle PID output is limited by velocity limit
+    P_angle.limit = velocity_limit;
 
   // if using open loop control, set a CW as the default direction if not already set
   if ((controller==MotionControlType::angle_openloop
@@ -308,13 +311,20 @@ void StepperMotor::move(float new_target) {
       else voltage.d = _constrain( -target*shaft_velocity*pole_pairs*phase_inductance, -voltage_limit, voltage_limit);
       break;
     case MotionControlType::angle:
+    case MotionControlType::angle_nocascade:
       // angle set point
       shaft_angle_sp = target;
-      // calculate velocity set point
-      shaft_velocity_sp = feed_forward_velocity + P_angle( shaft_angle_sp - shaft_angle );
-      shaft_velocity_sp = _constrain(shaft_velocity_sp, -velocity_limit, velocity_limit);
-      // calculate the torque command
-      current_sp = PID_velocity(shaft_velocity_sp - shaft_velocity); // if voltage torque control
+      if (controller == MotionControlType::angle) {
+        // calculate velocity set point
+        shaft_velocity_sp = feed_forward_velocity + P_angle( shaft_angle_sp - shaft_angle );
+        shaft_velocity_sp = _constrain(shaft_velocity_sp, -velocity_limit, velocity_limit);
+        // calculate the torque command
+        current_sp = PID_velocity(shaft_velocity_sp - shaft_velocity); // if voltage torque control
+      }
+      else {
+        // no velocity control
+        current_sp = P_angle( shaft_angle_sp - shaft_angle );
+      }
       // if torque controlled through voltage
       // use voltage if phase-resistance not provided
       if(!_isset(phase_resistance))  voltage.q = current_sp;

src/common/base_classes/FOCMotor.h

@@ -29,7 +29,8 @@ enum MotionControlType : uint8_t {
   velocity          = 0x01,     //!< Velocity motion control
   angle             = 0x02,     //!< Position/angle motion control
   velocity_openloop = 0x03,
-  angle_openloop    = 0x04
+  angle_openloop    = 0x04,
+  angle_nocascade   = 0x05      //!< Position/angle motion control without velocity cascade
 };
 
 /**

src/communication/Commander.cpp

@@ -377,7 +377,7 @@ void Commander::motion(FOCMotor* motor, char* user_cmd, char* separator){
           break;
         default:
           // change control type
-          if(!GET && value >= 0 && (int)value < 5) // if set command
+          if(!GET && value >= 0 && (int)value <= 5) // if set command
             motor->controller = (MotionControlType)value;
           switch(motor->controller){
             case MotionControlType::torque:
@@ -395,6 +395,9 @@ void Commander::motion(FOCMotor* motor, char* user_cmd, char* separator){
             case MotionControlType::angle_openloop:
               println(F("angle open"));
               break;
+            case MotionControlType::angle_nocascade:
+              println(F("angle nocascade"));
+              break;
           }
             break;
         }
@@ -505,6 +508,7 @@ void Commander::target(FOCMotor* motor,  char* user_cmd, char* separator){
   float pos, vel, torque;
   char* next_value;
   switch(motor->controller){
+    case MotionControlType::angle_nocascade:
     case MotionControlType::torque: // setting torque target
       torque = atof(strtok (user_cmd, separator));
       motor->target = torque;