FEAT merge from dev version 1.5.0

Author: askuric

README.md

@@ -10,10 +10,7 @@ Therefore this is an attempt to:
 - Demystify FOC algorithm and make a robust but simple Arduino library: [Arduino *SimpleFOClibrary*](https://docs.simplefoc.com/arduino_simplefoc_library_showcase)
 - Develop a modular BLDC driver board: [Arduino *SimpleFOCShield*](https://docs.simplefoc.com/arduino_simplefoc_shield_showcase).
 
-> ***NEWS:*** 📢 Arduino *SimpleFOClibrary* now supports ESP32 boards! Check out the library [docs](https://docs.simplefoc.com/microcontrollers)  to see how to use them with your project. You can also find full configuration in the library examples. 
-
-> ***NEWS:*** 📢 Arduino *SimpleFOClibrary* now supports magnetic sensors using I2C communication! Check out the library [docs](https://docs.simplefoc.com/sensors)  to see how to use them with your project. You can also find full configuration in the library examples. <br>
-> ***BEWARE:*** 📢 The `MagneticSensor` class has been renamed and divided to `MagneticSensorSPI` and `MagneticSensorI2C` classes.
+<blockquote class="info"><p class="heading"><b>NEWS</b> 📢</p>New version of the Arduino <span class="simple">Simple<span class="foc">FOC</span>library</span> is out! (<a href="https://github.com/askuric/Arduino-FOC/releases">version 1.5.0 <i class="fa fa-tag"></i></a>) <br> <b>New features</b>:<ul><li> Open-loop motor control</li><li> Support Hall sensors</li><li> Support for Analog interface Magnetic sensor</li><li> New alignment procedure <br>- automatic sensor direction detection<br> - possibility to avoid alignment completely</li><li> PI controller updated to PID controller</li><li>...</li></ul>Big thanks to <a href="https://github.com/owennewo">@owennewo</a> for awesome suggestions and pull-requests!</blockquote>
 
 
 

examples/hardware_specific_examples/Bluepill_examples/encoder/bluepill_position_control/bluepill_position_control.ino

@@ -42,21 +42,21 @@ void setup() {
   // default parameters in defaults.h
 
   // velocity PI controller parameters
-  motor.PI_velocity.P = 0.2;
-  motor.PI_velocity.I = 20;
+  motor.PID_velocity.P = 0.2;
+  motor.PID_velocity.I = 20;
   // default voltage_power_supply
-  motor.PI_velocity.voltage_limit = 6;
+  motor.voltage_limit = 6;
   // jerk control using voltage voltage ramp
   // default value is 300 volts per sec  ~ 0.3V per millisecond
-  motor.PI_velocity.voltage_ramp = 1000;
+  motor.PID_velocity.output_ramp = 1000;
 
   // velocity low pass filtering time constant
   motor.LPF_velocity.Tf = 0.01;
 
   // angle P controller
   motor.P_angle.P = 20;
   //  maximal velocity of the position control
-  motor.P_angle.velocity_limit = 4;
+  motor.velocity_limit = 4;
 
 
   // use monitoring with serial 

examples/hardware_specific_examples/Bluepill_examples/magnetic_sensor/bluepill_position_control/bluepill_position_control.ino

@@ -43,10 +43,10 @@ void setup() {
   // default parameters in defaults.h
 
   // velocity PI controller parameters
-  motor.PI_velocity.P = 0.2;
-  motor.PI_velocity.I = 20;
+  motor.PID_velocity.P = 0.2;
+  motor.PID_velocity.I = 20;
   // maximal voltage to be set to the motor
-  motor.PI_velocity.voltage_limit = 6;
+  motor.voltage_limit = 6;
 
   // velocity low pass filtering time constant
   // the lower the less filtered
@@ -55,7 +55,7 @@ void setup() {
   // angle P controller 
   motor.P_angle.P = 20;
   // maximal velocity of the position control
-  motor.P_angle.velocity_limit = 40;
+  motor.velocity_limit = 40;
 
   // use monitoring with serial 
   Serial.begin(115200);

examples/hardware_specific_examples/DRV8305_driver/motor_full_control_serial_examples/encoder/full_control_serial/full_control_serial.ino

@@ -64,18 +64,18 @@ void setup() {
   motor.controller = ControlType::voltage;
 
   // contoller configuration based on the controll type 
-  motor.PI_velocity.P = 0.2;
-  motor.PI_velocity.I = 20;
+  motor.PID_velocity.P = 0.2;
+  motor.PID_velocity.I = 20;
   // default voltage_power_supply
-  motor.PI_velocity.voltage_limit = 12;
+  motor.voltage_limit = 12;
 
   // velocity low pass filtering time constant
   motor.LPF_velocity.Tf = 0.01;
 
   // angle loop controller
   motor.P_angle.P = 20;
   // angle loop velocity limit
-  motor.P_angle.velocity_limit = 50;
+  motor.velocity_limit = 50;
 
   // use monitoring with serial for motor init
   // monitoring port

examples/hardware_specific_examples/ESP32/encoder/esp32_position_control/esp32_position_control.ino

@@ -38,21 +38,21 @@ void setup() {
   // default parameters in defaults.h
 
   // velocity PI controller parameters
-  motor.PI_velocity.P = 0.2;
-  motor.PI_velocity.I = 20;
+  motor.PID_velocity.P = 0.2;
+  motor.PID_velocity.I = 20;
   // default voltage_power_supply
-  motor.PI_velocity.voltage_limit = 6;
+  motor.voltage_limit = 6;
   // jerk control using voltage voltage ramp
   // default value is 300 volts per sec  ~ 0.3V per millisecond
-  motor.PI_velocity.voltage_ramp = 1000;
+  motor.PID_velocity.output_ramp = 1000;
 
   // velocity low pass filtering time constant
   motor.LPF_velocity.Tf = 0.01;
 
   // angle P controller
   motor.P_angle.P = 20;
   //  maximal velocity of the position control
-  motor.P_angle.velocity_limit = 4;
+  motor.velocity_limit = 4;
 
 
   // use monitoring with serial 

examples/hardware_specific_examples/ESP32/magnetic_sensor/esp32_position_control/esp32_position_control.ino

@@ -15,6 +15,9 @@ MagneticSensorSPI sensor = MagneticSensorSPI(10, 14, 0x3FFF);
 // SCL 22
 //MagneticSensorI2C sensor = MagneticSensorI2C(0x36, 12, 0x0E, 4);
 
+// Analog output Magnetic sensor instance (AS5600)
+// MagneticSensorAnalog sensor = MagneticSensorAnalog(A1, 14, 1020);
+
 // Motor instance
 BLDCMotor motor = BLDCMotor(25, 26, 27, 7);
 
@@ -39,10 +42,10 @@ void setup() {
   // default parameters in defaults.h
 
   // velocity PI controller parameters
-  motor.PI_velocity.P = 0.2;
-  motor.PI_velocity.I = 20;
+  motor.PID_velocity.P = 0.2;
+  motor.PID_velocity.I = 20;
   // maximal voltage to be set to the motor
-  motor.PI_velocity.voltage_limit = 6;
+  motor.voltage_limit = 6;
 
   // velocity low pass filtering time constant
   // the lower the less filtered
@@ -51,7 +54,7 @@ void setup() {
   // angle P controller 
   motor.P_angle.P = 20;
   // maximal velocity of the position control
-  motor.P_angle.velocity_limit = 40;
+  motor.velocity_limit = 40;
 
   // use monitoring with serial 
   Serial.begin(115200);

examples/hardware_specific_examples/HMBGC_example/position_control/position_control.ino

@@ -56,21 +56,21 @@ void setup() {
   // default parameters in defaults.h
 
   // velocity PI controller parameters
-  motor.PI_velocity.P = 0.2;
-  motor.PI_velocity.I = 20;
+  motor.PID_velocity.P = 0.2;
+  motor.PID_velocity.I = 20;
   // default voltage_power_supply
-  motor.PI_velocity.voltage_limit = 6;
+  motor.voltage_limit = 6;
   // jerk control using voltage voltage ramp
   // default value is 300 volts per sec  ~ 0.3V per millisecond
-  motor.PI_velocity.voltage_ramp = 1000;
+  motor.PID_velocity.output_ramp = 1000;
 
   // velocity low pass filtering time constant
   motor.LPF_velocity.Tf = 0.01;
 
   // angle P controller
   motor.P_angle.P = 20;
   //  maximal velocity of the position control
-  motor.P_angle.velocity_limit = 4;
+  motor.velocity_limit = 4;
 
 
   // use monitoring with serial 

examples/motion_control/open_loop_motor_control/open_loop_position_example/open_loop_position_example.ino

@@ -0,0 +1,63 @@
+// Open loop motor control example 
+ #include <SimpleFOC.h>
+
+// motor instance
+BLDCMotor motor = BLDCMotor(3, 10, 6, 11, 7);
+
+void setup() {
+  
+  // power supply voltage
+  // default 12V
+  motor.voltage_power_supply = 12;
+
+  // limiting motor movements
+  motor.voltage_limit = 3;   // rad/s
+  motor.velocity_limit = 20; // rad/s
+  // open loop control config
+  motor.controller = ControlType::angle_openloop;
+
+  // init motor hardware
+  motor.init();
+  
+
+  Serial.begin(115200);
+  Serial.println("Motor ready!");
+  _delay(1000);
+}
+
+float target_position = 0; // rad/s
+
+void loop() {
+  // open  loop angle movements 
+  // using motor.voltage_limit and motor.velocity_limit
+  motor.move(target_position);
+
+  // receive the used commands from serial
+  serialReceiveUserCommand();
+}
+
+// utility function enabling serial communication with the user to set the target values
+// this function can be implemented in serialEvent function as well
+void serialReceiveUserCommand() {
+  
+  // a string to hold incoming data
+  static String received_chars;
+  
+  while (Serial.available()) {
+    // get the new byte:
+    char inChar = (char)Serial.read();
+    // add it to the string buffer:
+    received_chars += inChar;
+    // end of user input
+    if (inChar == '\n') {
+      
+      // change the motor target
+      target_position = received_chars.toFloat();
+      Serial.print("Target position: ");
+      Serial.println(target_position);
+      
+      // reset the command buffer 
+      received_chars = "";
+    }
+  }
+}

examples/motion_control/open_loop_motor_control/open_loop_velocity_example/open_loop_velocity_example.ino

@@ -0,0 +1,64 @@
+// Open loop motor control example 
+ #include <SimpleFOC.h>
+
+// motor instance
+BLDCMotor motor = BLDCMotor(3, 10, 6, 11, 7);
+
+void setup() {
+  
+  // power supply voltage
+  // default 12V
+  motor.voltage_power_supply = 12;
+
+  // limiting motor movements
+  motor.voltage_limit = 3;   // rad/s
+  motor.velocity_limit = 20; // rad/s
+
+  // open loop control config
+  motor.controller = ControlType::velocity_openloop;
+
+  // init motor hardware
+  motor.init();
+  
+
+  Serial.begin(115200);
+  Serial.println("Motor ready!");
+  _delay(1000);
+}
+
+float target_velocity = 0; // rad/s
+
+void loop() {
+  // open loop velocity movement 
+  // using motor.voltage_limit and motor.velocity_limit
+  motor.move(target_velocity);
+
+  // receive the used commands from serial
+  serialReceiveUserCommand();
+}
+
+// utility function enabling serial communication with the user to set the target values
+// this function can be implemented in serialEvent function as well
+void serialReceiveUserCommand() {
+  
+  // a string to hold incoming data
+  static String received_chars;
+  
+  while (Serial.available()) {
+    // get the new byte:
+    char inChar = (char)Serial.read();
+    // add it to the string buffer:
+    received_chars += inChar;
+    // end of user input
+    if (inChar == '\n') {
+      
+      // change the motor target
+      target_velocity = received_chars.toFloat();
+      Serial.print("Target velocity ");
+      Serial.println(target_velocity);
+      
+      // reset the command buffer 
+      received_chars = "";
+    }
+  }
+}

examples/motion_control/position_motion_control/encoder/angle_control/angle_control.ino

@@ -67,21 +67,22 @@ void setup() {
   // default parameters in defaults.h
 
   // velocity PI controller parameters
-  motor.PI_velocity.P = 0.2;
-  motor.PI_velocity.I = 20;
+  motor.PID_velocity.P = 0.2;
+  motor.PID_velocity.I = 20;
+  motor.PID_velocity.D = 0;
   // default voltage_power_supply
-  motor.PI_velocity.voltage_limit = 6;
+  motor.voltage_limit = 6;
   // jerk control using voltage voltage ramp
   // default value is 300 volts per sec  ~ 0.3V per millisecond
-  motor.PI_velocity.voltage_ramp = 1000;
+  motor.PID_velocity.output_ramp = 1000;
 
   // velocity low pass filtering time constant
   motor.LPF_velocity.Tf = 0.01;
 
   // angle P controller
   motor.P_angle.P = 20;
   //  maximal velocity of the position control
-  motor.P_angle.velocity_limit = 4;
+  motor.velocity_limit = 4;
 
 
   // use monitoring with serial