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added: radians cmd #17

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merged 4 commits into from
Feb 20, 2024
Merged

added: radians cmd #17

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2ae3fab
feat(cmd): added doRadians
hcd-bdltd Feb 20, 2024
5d3b8ba
feat(motor): increase maximum velocity_limit
hcd-bdltd Feb 20, 2024
919ab42
fix(motor): default values
hcd-bdltd Feb 20, 2024
56c057b
fix(monitor): monitor_downsample
hcd-bdltd Feb 20, 2024
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36 changes: 24 additions & 12 deletions src/main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -16,12 +16,16 @@ void doA(){ hall_sensor.handleA(); }
void doB(){ hall_sensor.handleB(); }
void doC(){ hall_sensor.handleC(); }

// monitor delay
#define MONITOR_DELAY_MS (20)
unsigned long monitor_delay = 0;
// angle set point variable
float target = 0.0f;
// instantiate the commander
Commander commander = Commander(Serial);
void doMotor(char* cmd) { commander.motor(&motor, cmd); }
void doTarget(char* cmd) {
void doRadians(char* cmd) { commander.scalar(&target, cmd); };
void doDegrees(char* cmd) {
float angle_degrees;
commander.scalar(&angle_degrees, cmd);
target = angle_degrees * (PI / 180.0);
Expand Down Expand Up @@ -51,7 +55,8 @@ void setup() {
// initialize the driver
driver.voltage_power_supply = 24.0f;
rc = driver.init();
checkRC(rc); SIMPLEFOC_DEBUG("Driver ready.");
checkRC(rc);
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The call to checkRC(rc) after initializing the driver is a good practice for error handling. It ensures that any issues with the driver initialization are caught early. However, it would be beneficial to add comments explaining the expected range of return codes from driver.init() and what conditions might lead to a failure, for better maintainability and clarity for future developers.

Consider adding comments detailing the expected return codes from driver.init() and the conditions that might lead to initialization failure.

SIMPLEFOC_DEBUG("Driver ready.");
// link the current sensor and the driver
current_sensor.linkDriver(&driver);
// link the motor and the driver
Expand All @@ -60,7 +65,8 @@ void setup() {
// initialize the current sensor
current_sensor.skip_align = true;
rc = current_sensor.init();
checkRC(rc); SIMPLEFOC_DEBUG("Current sensor ready.");
checkRC(rc);
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Similar to the previous comment on driver.init(), the use of checkRC(rc) after initializing the current sensor is a good error handling practice. Including comments about the expected return codes from current_sensor.init() would enhance code readability and maintainability.

It would be helpful to include comments explaining the expected return codes from current_sensor.init() and under what conditions initialization might fail.

SIMPLEFOC_DEBUG("Current sensor ready.");
// link the current sensor to the motor
motor.linkCurrentSense(&current_sensor);

Expand All @@ -84,13 +90,13 @@ void setup() {
motor.P_angle.P = 20.0f;

// motor limits
motor.voltage_limit = 12.0f;
motor.velocity_limit = 4.0f;
motor.current_limit = 2.0f;
motor.voltage_limit = 24.0f;
motor.velocity_limit = 200.0f;
motor.current_limit = 1.0f;

// motion and monitoring settings
motor.motion_downsample = 0;
motor.monitor_downsample = 10000;
motor.monitor_downsample = 1;

// use monitoring with serial
motor.monitor_separator = '\t';
Expand All @@ -102,16 +108,19 @@ void setup() {
motor.init();
// align sensor and start FOC
rc = motor.initFOC();
checkRC(rc); SIMPLEFOC_DEBUG("Motor ready.");
checkRC(rc);
SIMPLEFOC_DEBUG("Motor ready.");

// initialize serial communication
commander.verbose = VerboseMode::user_friendly;
commander.add('M',doMotor,"motor");
commander.add('T', doTarget, "target [deg]");
commander.add('R', doRadians, "target [rad]");
commander.add('D', doDegrees, "target [deg]");

SIMPLEFOC_DEBUG("Setup ready.");
SIMPLEFOC_DEBUG("Set the target angle using serial terminal:");
_delay(1000);
monitor_delay = millis();
}

void loop() {
Expand All @@ -127,9 +136,12 @@ void loop() {
// You can also use motor.move() and set the motor.target in the code
motor.move(target);

// function intended to be used with serial plotter to monitor motor variables
// significantly slowing the execution down!!!!
motor.monitor();
if (millis() - monitor_delay > MONITOR_DELAY_MS) {
monitor_delay = millis();
// function intended to be used with serial plotter to monitor motor variables
// significantly slowing the execution down!!!!
motor.monitor();
}

// user communication
commander.run();
Expand Down
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