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Merge branch 'dev'
2 parents bc4d4ec + ed2348b commit 5cc616f

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22 files changed

+126
-127
lines changed

22 files changed

+126
-127
lines changed

README.md

Lines changed: 9 additions & 10 deletions
Original file line numberDiff line numberDiff line change
@@ -128,20 +128,19 @@ void setup() {
128128
encoder.init();
129129
// hardware interrupt enable
130130
encoder.enableInterrupts(doA, doB);
131-
132-
// set control loop type to be used
133-
motor.controller = ControlType::velocity;
134-
135-
// use debugging with the BLDCMotor
136-
Serial.begin(115200);
137-
// debugging port
138-
motor.useDebugging(Serial);
139-
140131
// link the motor to the sensor
141132
motor.linkSensor(&encoder);
133+
134+
// use monitoring with the BLDCMotor
135+
Serial.begin(115200);
136+
// monitoring port
137+
motor.useMonitoring(Serial);
142138

139+
// set control loop type to be used
140+
motor.controller = ControlType::velocity;
143141
// initialize motor
144142
motor.init();
143+
145144
// align encoder and start FOC
146145
motor.initFOC();
147146
}
@@ -154,7 +153,7 @@ void loop() {
154153
// setting the target velocity or 2rad/s
155154
motor.move(2);
156155

157-
// debugging function outputting motor variables to the serial terminal
156+
// monitoring function outputting motor variables to the serial terminal
158157
motor.monitor();
159158
}
160159
```

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

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -59,10 +59,10 @@ void setup() {
5959
motor.P_angle.velocity_limit = 4;
6060

6161

62-
// use debugging with serial
62+
// use monitoring with serial
6363
Serial.begin(115200);
6464
// comment out if not needed
65-
motor.useDebugging(Serial);
65+
motor.useMonitoring(Serial);
6666

6767
// initialize motor
6868
motor.init();

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

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -51,10 +51,10 @@ void setup() {
5151
// maximal velocity of the position control
5252
motor.P_angle.velocity_limit = 40;
5353

54-
// use debugging with serial
54+
// use monitoring with serial
5555
Serial.begin(115200);
5656
// comment out if not needed
57-
motor.useDebugging(Serial);
57+
motor.useMonitoring(Serial);
5858

5959

6060
// initialize motor

examples/hardware_specific_examples/HMBGC_example/position_control/position_control.ino

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -73,10 +73,10 @@ void setup() {
7373
motor.P_angle.velocity_limit = 4;
7474

7575

76-
// use debugging with serial
76+
// use monitoring with serial
7777
Serial.begin(115200);
7878
// comment out if not needed
79-
motor.useDebugging(Serial);
79+
motor.useMonitoring(Serial);
8080

8181
// initialize motor
8282
motor.init();

examples/hardware_specific_examples/HMBGC_example/voltage_control/voltage_control.ino

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -58,14 +58,14 @@ void setup() {
5858
// set motion control loop to be used
5959
motor.controller = ControlType::voltage;
6060

61-
// use debugging with serial for motor init
61+
// use monitoring with serial for motor init
6262
// comment out if not needed
63-
motor.useDebugging(Serial);
63+
motor.useMonitoring(Serial);
6464

65-
// use debugging with serial
65+
// use monitoring with serial
6666
Serial.begin(115200);
6767
// comment out if not needed
68-
motor.useDebugging(Serial);
68+
motor.useMonitoring(Serial);
6969

7070
// initialize motor
7171
motor.init();

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

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -84,10 +84,10 @@ void setup() {
8484
motor.P_angle.velocity_limit = 4;
8585

8686

87-
// use debugging with serial
87+
// use monitoring with serial
8888
Serial.begin(115200);
8989
// comment out if not needed
90-
motor.useDebugging(Serial);
90+
motor.useMonitoring(Serial);
9191

9292
// initialize motor
9393
motor.init();

examples/motion_control/position_motion_control/magnetic_sensor/angle_control/angle_control.ino

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -50,10 +50,10 @@ void setup() {
5050
// maximal velocity of the position control
5151
motor.P_angle.velocity_limit = 20;
5252

53-
// use debugging with serial
53+
// use monitoring with serial
5454
Serial.begin(115200);
5555
// comment out if not needed
56-
motor.useDebugging(Serial);
56+
motor.useMonitoring(Serial);
5757

5858

5959
// initialize motor

examples/motion_control/torque_voltage_control/encoder/voltage_control/voltage_control.ino

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -38,14 +38,14 @@ void setup() {
3838
// set motion control loop to be used
3939
motor.controller = ControlType::voltage;
4040

41-
// use debugging with serial for motor init
41+
// use monitoring with serial for motor init
4242
// comment out if not needed
43-
motor.useDebugging(Serial);
43+
motor.useMonitoring(Serial);
4444

45-
// use debugging with serial
45+
// use monitoring with serial
4646
Serial.begin(115200);
4747
// comment out if not needed
48-
motor.useDebugging(Serial);
48+
motor.useMonitoring(Serial);
4949

5050
// initialize motor
5151
motor.init();

examples/motion_control/torque_voltage_control/magnetic_sensor/voltage_control/voltage_control.ino

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -31,14 +31,14 @@ void setup() {
3131
// set motion control loop to be used
3232
motor.controller = ControlType::voltage;
3333

34-
// use debugging with serial for motor init
34+
// use monitoring with serial for motor init
3535
// comment out if not needed
36-
motor.useDebugging(Serial);
36+
motor.useMonitoring(Serial);
3737

38-
// use debugging with serial
38+
// use monitoring with serial
3939
Serial.begin(115200);
4040
// comment out if not needed
41-
motor.useDebugging(Serial);
41+
motor.useMonitoring(Serial);
4242

4343
// initialize motor
4444
motor.init();

examples/motion_control/velocity_motion_control/encoder/velocity_control/velocity_control.ino

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -79,10 +79,10 @@ void setup() {
7979
// velocity low pass filtering time constant
8080
motor.LPF_velocity.Tf = 0.01;
8181

82-
// use debugging with serial
82+
// use monitoring with serial
8383
Serial.begin(115200);
8484
// comment out if not needed
85-
motor.useDebugging(Serial);
85+
motor.useMonitoring(Serial);
8686

8787
// initialize motor
8888
motor.init();

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