Tested steppers, added support for phase resitance

Author: askuric

.github/workflows/ccpp.yml

@@ -11,4 +11,4 @@ jobs:
       uses: ArminJo/arduino-test-compile@v1.0.0
       with:
         libraries:  PciManager 
-        examples-exclude: bluepill_position_control, esp32_position_control, esp32_i2c_dual_bus_example, stm32_i2c_dual_bus_example, magnetic_sensor_spi_alt_example, simplefoc_osc_esp32_3pwm
+        examples-exclude: bluepill_position_control, esp32_position_control, esp32_i2c_dual_bus_example, stm32_i2c_dual_bus_example, magnetic_sensor_spi_alt_example, osc_esp32_3pwm, osc_esp32_fullcontrol

README.md

@@ -53,7 +53,7 @@ Therefore this is an attempt to:
 >   - `ControlType::voltage` does not exist any more now - `MotionControlType::torque`
 
 
-## Arduino *SimpleFOCShield* v2.0.2
+## Arduino *SimpleFOCShield* v2.0.3
 
 <p align="">
 <a href="https://youtu.be/G5pbo0C6ujE">
@@ -80,7 +80,7 @@ Therefore this is an attempt to:
 <p align=""><img src="https://simplefoc.com/assets/img/v2.jpg" height="180px">   <img src="https://simplefoc.com/assets/img/v1.jpg"  height="180px"> <img src="https://docs.simplefoc.com/extras/Images/simple_foc_shield_v13_small.gif"  height="180x"></p>
 
 
-## Arduino *SimpleFOClibrary* v2.0.2
+## Arduino *SimpleFOClibrary* v2.1
 
 <p align="">
 <a href="https://youtu.be/Y5kLeqTc6Zk">

examples/hardware_specific_examples/SimpleFOCShield/version_v2/single_full_control_example/single_full_control_example.ino

@@ -72,7 +72,7 @@ void setup() {
   // subscribe motor to the commander
   command.add('M', doMotor, "motor");
 
-  // Run user commands to configure and the motor (find the full command list in docs.simplefoc.com)
+  // Run user commands to configure and the motor (find the full command list in docs.simplefoc.com)  
   Serial.println(F("Motor commands sketch | Initial motion control > torque/voltage : target 2V."));
 
   _delay(1000);

examples/motor_commands_serial_examples/encoder/full_control_serial/full_control_serial.ino

@@ -8,33 +8,7 @@
  * - set target values
  * - check all the configuration values 
  * 
- * To check the config value just enter the command letter.
- * For example: - to read velocity PI controller P gain run: P
- *              - to set velocity PI controller P gain  to 1.2 run: P1.2
- * 
- * To change the target value just enter a number in the terminal:
- * For example: - to change the target value to -0.1453 enter: -0.1453
- *              - to get the current target value enter: V3 
- * 
- * List of commands:
- *  - P: velocity PID controller P gain
- *  - I: velocity PID controller I gain
- *  - D: velocity PID controller D gain
- *  - R: velocity PID controller voltage ramp
- *  - F: velocity Low pass filter time constant
- *  - K: angle P controller P gain
- *  - N: angle P controller velocity limit
- *  - L: system voltage limit
- *  - C: control loop 
- *    - 0: voltage 
- *    - 1: velocity 
- *    - 2: angle
- *  - V: get motor variables
- *    - 0: currently set voltage
- *    - 1: current velocity
- *    - 2: current angle
- *    - 3: current target value
- *
+ * See more info in docs.simplefoc.com/commander_interface
  */
 #include <SimpleFOC.h>
 

examples/motor_commands_serial_examples/hall_sensor/full_control_serial/full_control_serial.ino

@@ -8,33 +8,7 @@
  * - set target values
  * - check all the configuration values 
  * 
- * To check the config value just enter the command letter.
- * For example: - to read velocity PI controller P gain run: P
- *              - to set velocity PI controller P gain  to 1.2 run: P1.2
- * 
- * To change the target value just enter a number in the terminal:
- * For example: - to change the target value to -0.1453 enter: -0.1453
- *              - to get the current target value enter: V3 
- * 
- * List of commands:
- *  - P: velocity PID controller P gain
- *  - I: velocity PID controller I gain
- *  - D: velocity PID controller D gain
- *  - R: velocity PID controller voltage ramp
- *  - F: velocity Low pass filter time constant
- *  - K: angle P controller P gain
- *  - N: angle P controller velocity limit
- *  - L: system voltage limit
- *  - C: control loop 
- *    - 0: voltage 
- *    - 1: velocity 
- *    - 2: angle
- *  - V: get motor variables
- *    - 0: currently set voltage
- *    - 1: current velocity
- *    - 2: current angle
- *    - 3: current target value
- *
+ * See more info in docs.simplefoc.com/commander_interface
  */
 #include <SimpleFOC.h>
 // software interrupt library

examples/motor_commands_serial_examples/magnetic_sensor/full_control_serial/full_control_serial.ino

@@ -8,33 +8,7 @@
  * - set target values
  * - check all the configuration values 
  * 
- * To check the config value just enter the command letter.
- * For example: - to read velocity PI controller P gain run: P
- *              - to set velocity PI controller P gain  to 1.2 run: P1.2
- * 
- * To change the target value just enter a number in the terminal:
- * For example: - to change the target value to -0.1453 enter: -0.1453
- *              - to get the current target value enter: V3 
- * 
- * List of commands:
- *  - P: velocity PID controller P gain
- *  - I: velocity PID controller I gain
- *  - D: velocity PID controller D gain
- *  - R: velocity PID controller voltage ramp
- *  - F: velocity Low pass filter time constant
- *  - K: angle P controller P gain
- *  - N: angle P controller velocity limit
- *  - L: system voltage limit
- *  - C: control loop 
- *    - 0: voltage 
- *    - 1: velocity 
- *    - 2: angle
- *  - V: get motor variables
- *    - 0: currently set voltage
- *    - 1: current velocity
- *    - 2: current angle
- *    - 3: current target value
- * 
+ * See more info in docs.simplefoc.com/commander_interface
  */
 #include <SimpleFOC.h>
 

examples/osc_control_examples/osc_esp32_fullcontrol/simplefoc_osc_esp32_fullcontrol.ino renamed to examples/osc_control_examples/osc_esp32_fullcontrol/osc_esp32_fullcontrol.ino

@@ -1,6 +1,6 @@
 #include "BLDCMotor.h"
 
-// BLDCMotor( int pp)
+// BLDCMotor( int pp , float R)
 // - pp            - pole pair number
 // - R             - motor phase resistance
 BLDCMotor::BLDCMotor(int pp, float _R)
@@ -306,7 +306,7 @@ void BLDCMotor::move(float new_target) {
   switch (controller) {
     case MotionControlType::torque:
       if(torque_controller == TorqueControlType::voltage) // if voltage torque control
-        if(!_isset(phase_resistance))  voltage.q = current_sp;
+        if(!_isset(phase_resistance))  voltage.q = target;
         else voltage.q =  target*phase_resistance; 
       else 
         current_sp = target; // if current/foc_current torque control