LinearHall improvements and move to main repository

examples/motion_control/position_motion_control/linear_hall/angle_control/angle_control.ino

@@ -0,0 +1,117 @@
+/**
+ *
+ * Position/angle motion control example
+ * Steps:
+ * 1) Configure the motor and hall sensor
+ * 2) Run the code
+ * 3) Set the target angle (in radians) from serial terminal
+ */
+#include <SimpleFOC.h>
+
+// BLDC motor & driver instance
+BLDCMotor motor = BLDCMotor(11);
+BLDCDriver3PWM driver = BLDCDriver3PWM(9, 5, 6, 8);
+// Stepper motor & driver instance
+//StepperMotor motor = StepperMotor(50);
+//StepperDriver4PWM driver = StepperDriver4PWM(9, 5, 10, 6,  8);
+
+// hall sensor instance
+LinearHall sensor = LinearHall(A0, A1, 11);
+
+// angle set point variable
+float target_angle = 0;
+// instantiate the commander
+Commander command = Commander(Serial);
+void doTarget(char* cmd) { command.scalar(&target_angle, cmd); }
+
+void setup() {
+
+  // driver config
+  // power supply voltage [V]
+  driver.voltage_power_supply = 12;
+  driver.init();
+  // link the motor and the driver
+  motor.linkDriver(&driver);
+
+
+  // aligning voltage [V]
+  motor.voltage_sensor_align = 3;
+  // index search velocity [rad/s]
+  motor.velocity_index_search = 3;
+
+  // set motion control loop to be used
+  motor.controller = MotionControlType::angle;
+
+  // contoller configuration
+  // default parameters in defaults.h
+
+  // velocity PI controller parameters
+  motor.PID_velocity.P = 0.2f;
+  motor.PID_velocity.I = 2;
+  motor.PID_velocity.D = 0;
+  // default voltage_power_supply
+  motor.voltage_limit = 6;
+  // jerk control using voltage voltage ramp
+  // default value is 300 volts per sec  ~ 0.3V per millisecond
+  motor.PID_velocity.output_ramp = 1000;
+
+  // velocity low pass filtering time constant
+  motor.LPF_velocity.Tf = 0.01f;
+
+  // angle P controller
+  motor.P_angle.P = 20;
+  //  maximal velocity of the position control
+  motor.velocity_limit = 4;
+
+
+  // use monitoring with serial
+  Serial.begin(115200);
+  // comment out if not needed
+  motor.useMonitoring(Serial);
+
+  // initialize motor
+  motor.init();
+  // initialize sensor hardware. This moves the motor to find the min/max sensor readings and 
+  // averages them to get the center values. The motor can't move until motor.init is called, and 
+  // motor.initFOC can't do its calibration until the sensor is intialized, so this must be done inbetween.
+  // You can then take the values printed to the serial monitor and pass them to sensor.init to 
+  // avoid having to move the motor every time. In that case it doesn't matter whether sensor.init 
+  // is called before or after motor.init.
+  sensor.init(&motor);
+  Serial.print("LinearHall centerA: ");
+  Serial.print(sensor.centerA);
+  Serial.print(", centerB: ");
+  Serial.println(sensor.centerB);
+  // link the motor to the sensor
+  motor.linkSensor(&sensor);
+  // align sensor and start FOC
+  motor.initFOC();
+
+  // add target command T
+  command.add('T', doTarget, "target angle");
+
+  Serial.println(F("Motor ready."));
+  Serial.println(F("Set the target angle using serial terminal:"));
+  _delay(1000);
+}
+
+void loop() {
+  // main FOC algorithm function
+  // the faster you run this function the better
+  // Arduino UNO loop  ~1kHz
+  // Bluepill loop ~10kHz
+  motor.loopFOC();
+
+  // 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(target_angle);
+
+  // function intended to be used with serial plotter to monitor motor variables
+  // significantly slowing the execution down!!!!
+  // motor.monitor();
+
+  // user communication
+  command.run();
+}

examples/motion_control/torque_control/linear_hall/voltage_control/voltage_control.ino

@@ -0,0 +1,96 @@
+/**
+ * 
+ * Torque control example using voltage control loop.
+ * 
+ * Most of the low-end BLDC driver boards doesn't have current measurement therefore SimpleFOC offers 
+ * you a way to control motor torque by setting the voltage to the motor instead of the current. 
+ * 
+ * This makes the BLDC motor effectively a DC motor, and you can use it in a same way.
+ */
+#include <SimpleFOC.h>
+
+
+// BLDC motor & driver instance
+BLDCMotor motor = BLDCMotor(11);
+BLDCDriver3PWM driver = BLDCDriver3PWM(9, 5, 6, 8);
+// Stepper motor & driver instance
+//StepperMotor motor = StepperMotor(50);
+//StepperDriver4PWM driver = StepperDriver4PWM(9, 5, 10, 6,  8);
+
+// hall sensor instance
+LinearHall sensor = LinearHall(A0, A1, 11);
+
+
+// voltage set point variable
+float target_voltage = 2;
+// instantiate the commander
+Commander command = Commander(Serial);
+void doTarget(char* cmd) { command.scalar(&target_voltage, cmd); }
+
+void setup() { 
+
+  // driver config
+  // power supply voltage [V]
+  driver.voltage_power_supply = 12;
+  driver.init();
+  // link driver
+  motor.linkDriver(&driver);
+
+  // aligning voltage
+  motor.voltage_sensor_align = 3;
+
+  // choose FOC modulation (optional)
+  motor.foc_modulation = FOCModulationType::SpaceVectorPWM;
+
+  // set motion control loop to be used
+  motor.controller = MotionControlType::torque;
+
+  // use monitoring with serial 
+  Serial.begin(115200);
+  // comment out if not needed
+  motor.useMonitoring(Serial);
+
+  // initialize motor
+  motor.init();
+  // initialize sensor hardware. This moves the motor to find the min/max sensor readings and 
+  // averages them to get the center values. The motor can't move until motor.init is called, and 
+  // motor.initFOC can't do its calibration until the sensor is intialized, so this must be done inbetween.
+  // You can then take the values printed to the serial monitor and pass them to sensor.init to 
+  // avoid having to move the motor every time. In that case it doesn't matter whether sensor.init 
+  // is called before or after motor.init.
+  sensor.init(&motor);
+  Serial.print("LinearHall centerA: ");
+  Serial.print(sensor.centerA);
+  Serial.print(", centerB: ");
+  Serial.println(sensor.centerB);
+  // link the motor to the sensor
+  motor.linkSensor(&sensor);
+  // align sensor and start FOC
+  motor.initFOC();
+
+  // add target command T
+  command.add('T', doTarget, "target voltage");
+
+  Serial.println(F("Motor ready."));
+  Serial.println(F("Set the target voltage using serial terminal:"));
+  _delay(1000);
+}
+
+
+void loop() {
+
+  // main FOC algorithm function
+  // the faster you run this function the better
+  // Arduino UNO loop  ~1kHz
+  // Bluepill loop ~10kHz 
+  motor.loopFOC();
+
+  // 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(target_voltage);
+
+  // user communication
+  command.run();
+}

examples/motion_control/velocity_motion_control/linear_hall/velocity_control/velocity_control.ino

@@ -0,0 +1,109 @@
+/**
+ *
+ * Velocity motion control example
+ * Steps:
+ * 1) Configure the motor and sensor
+ * 2) Run the code
+ * 3) Set the target velocity (in radians per second) from serial terminal
+ */
+#include <SimpleFOC.h>
+
+// BLDC motor & driver instance
+BLDCMotor motor = BLDCMotor(11);
+BLDCDriver3PWM driver = BLDCDriver3PWM(9, 5, 6, 8);
+// Stepper motor & driver instance
+//StepperMotor motor = StepperMotor(50);
+//StepperDriver4PWM driver = StepperDriver4PWM(9, 5, 10, 6,  8);
+
+// hall sensor instance
+LinearHall sensor = LinearHall(A0, A1, 11);
+
+// velocity set point variable
+float target_velocity = 0;
+// instantiate the commander
+Commander command = Commander(Serial);
+void doTarget(char* cmd) { command.scalar(&target_velocity, cmd); }
+
+void setup() {
+
+  // driver config
+  // power supply voltage [V]
+  driver.voltage_power_supply = 12;
+  driver.init();
+  // link the motor and the driver
+  motor.linkDriver(&driver);
+
+  // aligning voltage [V]
+  motor.voltage_sensor_align = 3;
+
+  // set motion control loop to be used
+  motor.controller = MotionControlType::velocity;
+
+  // contoller configuration
+  // default parameters in defaults.h
+
+  // velocity PI controller parameters
+  motor.PID_velocity.P = 0.2f;
+  motor.PID_velocity.I = 2;
+  motor.PID_velocity.D = 0;
+  // default voltage_power_supply
+  motor.voltage_limit = 6;
+  // jerk control using voltage voltage ramp
+  // default value is 300 volts per sec  ~ 0.3V per millisecond
+  motor.PID_velocity.output_ramp = 1000;
+
+  // velocity low pass filtering time constant
+  motor.LPF_velocity.Tf = 0.01f;
+
+  // use monitoring with serial
+  Serial.begin(115200);
+  // comment out if not needed
+  motor.useMonitoring(Serial);
+
+  // initialize motor
+  motor.init();
+  // initialize sensor hardware. This moves the motor to find the min/max sensor readings and 
+  // averages them to get the center values. The motor can't move until motor.init is called, and 
+  // motor.initFOC can't do its calibration until the sensor is intialized, so this must be done inbetween.
+  // You can then take the values printed to the serial monitor and pass them to sensor.init to 
+  // avoid having to move the motor every time. In that case it doesn't matter whether sensor.init 
+  // is called before or after motor.init.
+  sensor.init(&motor);
+  Serial.print("LinearHall centerA: ");
+  Serial.print(sensor.centerA);
+  Serial.print(", centerB: ");
+  Serial.println(sensor.centerB);
+  // link the motor to the sensor
+  motor.linkSensor(&sensor);
+  // align sensor and start FOC
+  motor.initFOC();
+
+  // add target command T
+  command.add('T', doTarget, "target voltage");
+
+  Serial.println(F("Motor ready."));
+  Serial.println(F("Set the target velocity using serial terminal:"));
+  _delay(1000);
+}
+
+
+void loop() {
+  // main FOC algorithm function
+  // the faster you run this function the better
+  // Arduino UNO loop  ~1kHz
+  // Bluepill loop ~10kHz
+  motor.loopFOC();
+
+  // 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(target_velocity);
+
+  // function intended to be used with serial plotter to monitor motor variables
+  // significantly slowing the execution down!!!!
+  // motor.monitor();
+
+  // user communication
+  command.run();
+}

src/SimpleFOC.h

@@ -104,6 +104,7 @@ void loop() {
 #include "sensors/MagneticSensorAnalog.h"
 #include "sensors/MagneticSensorPWM.h"
 #include "sensors/HallSensor.h"
+#include "sensors/LinearHall.h"
 #include "sensors/GenericSensor.h"
 #include "drivers/BLDCDriver3PWM.h"
 #include "drivers/BLDCDriver6PWM.h"