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Close-loop position OK :D

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Lucien Renaud 2022-05-24 10:32:15 +02:00
parent f28a03ff05
commit 1bcd56e5f5
3 changed files with 154 additions and 291 deletions
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269
src/linearHallSensor.cpp
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@ -1,223 +1,128 @@
#include "linearHallSensor.h" #include "linearHallSensor.h"
float norm(float x, float in_min, float in_max) float norm(float x, float in_min, float in_max, float out_min = -1.0, float out_max = 1.0)
{ {
return (float)(x + 1.0) * (2.0) / (float)(in_max - in_min) -1.0; return (float)(x - in_min) * (out_max - out_min) / (float)(in_max - in_min) + out_min;
} }
LinearHallSensor::LinearHallSensor(uint8_t ch1, uint8_t ch2) LinearHallSensor::LinearHallSensor(uint8_t ch1, uint8_t ch2, float minPos, float maxPos)
{ {
_analogPin1 = ch1; _analogPin1 = ch1;
_analogPin2 = ch2; _analogPin2 = ch2;
_minPositionEndValue = minPos;
_maxPositionEndValue = maxPos;
} }
void LinearHallSensor::init(BLDCMotor motor) void LinearHallSensor::init(BLDCMotor motor)
{ {
int senseA = analogRead(A0); MotionControlType prevController = motor.controller;
int senseB = analogRead(A1); motor.controller = MotionControlType::angle_openloop;
float prevVoltageLimit = motor.voltage_limit;
motor.voltage_limit = 0.8;
int minA = senseA, maxA = senseA, minB = senseB, maxB = senseB; uint32_t senseA = analogRead(_analogPin1);
uint32_t senseB = analogRead(_analogPin2);
// Swipe motor 2 times _minCh1 = senseA, _maxCh1 = senseA;
for (float i = -0.55; i <= 2.25; i = i + 0.005) _minCh2 = senseB, _maxCh2 = senseB;
// Swipe motor
for (float i = _minPositionEndValue; i <= _maxPositionEndValue; i = i + 0.005)
{ {
motor.move(i); motor.move(i);
senseA = analogRead(A0);
senseB = analogRead(A1);
if (senseA > maxA)
maxA = senseA;
else if (senseA < minA)
minA = senseA;
if (senseB > maxB)
maxB = senseB;
else if (senseB < minB)
minB = senseB;
delay(1); delay(1);
senseA = analogRead(_analogPin1);
senseB = analogRead(_analogPin2);
if (senseA > _maxCh1)
_maxCh1 = senseA;
else if (senseA < _minCh1)
_minCh1 = senseA;
if (senseB > _maxCh1)
_maxCh1 = senseB;
else if (senseB < _minCh2)
_minCh2 = senseB;
} }
delay(100); delay(100);
for (float i = _maxPositionEndValue; i >= _minPositionEndValue; i = i - 0.005)
for (float i = 2.25; i >= -0.55; i = i - 0.005)
{ {
motor.move(i); motor.move(i);
senseA = analogRead(A0);
senseB = analogRead(A1);
if (senseA > maxA)
maxA = senseA;
else if (senseA < minA)
minA = senseA;
if (senseB > maxB)
maxB = senseB;
else if (senseB < minB)
minB = senseB;
delay(1); delay(1);
senseA = analogRead(_analogPin1);
senseB = analogRead(_analogPin2);
if (senseA > _maxCh1)
_maxCh1 = senseA;
else if (senseA < _minCh1)
_minCh1 = senseA;
if (senseB > _maxCh1)
_maxCh1 = senseB;
else if (senseB < _minCh2)
_minCh2 = senseB;
} }
_maxCh1 = maxA; // Min offset with 50 values average
_maxCh2 = maxB; float sum = 0.0;
_minCh1 = minA; for (uint8_t i = 0; i <= 49; i++)
_minCh2 = minB; {
_offset = 0.0;
sum += readSensorCallback();
}
_offset = -sum / 50.0;
// Intialise the state machine variables Serial.println("\n\rmaxA: " + String(_maxCh1) + "\tminA: " + String(_minCh1) + "\tmaxB: " + String(_maxCh2) + "\tminB: " + String(_minCh2));
_state = 0; // Set the state machine to 0 Serial.println("Offset: " + String(_offset));
_prevCh1 = analogRead(_analogPin1);
_prevCh2 = analogRead(_analogPin2);
_directionCh1 = Direction::UNKNOWN;
_directionCh2 = Direction::UNKNOWN;
//measure offset angle // Detect max angle
float normCh1 = norm(_prevCh1, _minCh1, _maxCh1); for (float i = _minPositionEndValue; i <= _maxPositionEndValue; i = i + 0.01)
float normCh2 = norm(_prevCh2, _minCh2, _maxCh2); {
float pos = atan2(normCh1, normCh2); motor.move(i);
delay(1);
_maxSensor = readSensorCallback();
}
Serial.println("current motor angle: " + String(motor.electricalAngle()));
delay(250);
_offset = M_PI_2 - pos; // take average value of 50 values
sum = 0.0;
for (uint8_t i = 0; i <= 49; i++)
sum += readSensorCallback();
_maxSensor = sum / 50.0;
Serial.println("Max sensor: " + String(_maxSensor));
Serial.println("maxA: " + String(maxA) + "\tminA: " + String(minA) + "\tmaxB: " + String(maxB) + "\tminB: " + String(minB)); // Recovering previous controller type and go in the middle
Serial.println("Current Ch1:" + String(_prevCh1) + "\tCh2:" + String(_prevCh2)); for (float i = _maxPositionEndValue; i >= _minPositionEndValue/2.0; i = i - 0.01)
{
motor.move(i);
delay(1);
readSensorCallback();
}
motor.controller = prevController;
motor.voltage_limit = prevVoltageLimit;
} }
float dist_angle(float newAngle, float prevAngle)
{
float diff = newAngle - prevAngle;
while (diff < (-M_PI))
diff += 2 * M_PI;
while (diff > M_PI)
diff -= 2 * M_PI;
return diff;
}
float LinearHallSensor::readSensorCallback() float LinearHallSensor::readSensorCallback()
{ {
// Update variables // Update variables
float currentCh1 = analogRead(_analogPin1); uint32_t currentCh1 = analogRead(_analogPin1);
float currentCh2 = analogRead(_analogPin2); uint32_t currentCh2 = analogRead(_analogPin2);
// Normalise variable between -1 and 1 // Normalise variable between -1 and 1
float normCh1 = norm(currentCh1, _minCh1, _maxCh1); float normCh1 = norm((float)currentCh1, _minCh1, _maxCh1);
float normCh2 = norm(currentCh2, _minCh2, _maxCh2); float normCh2 = norm((float)currentCh2, _minCh2, _maxCh2);
_currentPosition = atan2f(normCh2, normCh1); _currentPosition = atan2f(normCh2, normCh1);
Serial.print("Current angle: " + String(_currentPosition)); _estimatePosition += dist_angle(_currentPosition, _prevPosition);
float temp1 = normCh1 + sin(_offset); _prevPosition = _currentPosition;
normCh1 = temp1 * floorf(temp1); return (_estimatePosition + _offset)/4.0;
float temp2 = normCh2 + cos(_offset);
normCh2 = temp2 * floorf(temp2);
_currentPosition = atan2f(normCh2, normCh1);
Serial.print("\tNew angle: " + String(_currentPosition)+ '\r');
return _currentPosition;
}
float LinearHallSensor::readSensorCallbackStateMachine()
{
// Update variables
float currentCh1 = analogRead(_analogPin1);
float currentCh2 = analogRead(_analogPin2);
if (currentCh1 > _prevCh1)
_directionCh1 = Slope::INCREASING;
else if (currentCh1 < _prevCh1)
_directionCh1 = Slope::DECREASING;
else
_directionCh1 = Slope::EQUAL;
if (currentCh2 > _prevCh2)
_directionCh2 = Slope::INCREASING;
else if (currentCh2 < _prevCh2)
_directionCh2 = Slope::DECREASING;
else
_directionCh2 = Slope::EQUAL;
// Normalise variable between -1 and 1
float normCh1 = norm(currentCh1, _minCh1, _maxCh1);
float normCh2 = norm(currentCh2, _minCh2, _maxCh2);
// Update previous var
_prevCh1 = currentCh1;
_prevCh2 = currentCh2;
// State machine
switch (_state)
{
case 0:
_currentPosition = 0.0;
if (_directionCh1 == Slope::INCREASING)
_state = 1;
break;
case 1:
if(_directionCh1 != Slope::EQUAL)
_currentPosition++;
if (_directionCh1 == Slope::DECREASING)
_state = 2;
else if (normCh1 >= 0.8 && _directionCh1 == Slope::INCREASING)
_state = 3;
break;
case 2:
if(_directionCh1 != Slope::EQUAL)
_currentPosition--;
if (_directionCh1 == Slope::INCREASING)
_state = 1;
else if (_directionCh1 == Slope::DECREASING && normCh2 <= 0.2)
_state = 8;
break;
case 3:
if(_directionCh2 != Slope::EQUAL)
_currentPosition++;
if (_directionCh2 == Slope::INCREASING)
_state = 4;
else if (_directionCh2 == Slope::DECREASING && normCh2 <= 0.2)
_state = 5;
break;
case 4:
if(_directionCh2 != Slope::EQUAL)
_currentPosition--;
if (_directionCh2 == Slope::DECREASING)
_state = 3;
else if (_directionCh2 == Slope::INCREASING && normCh1 <= 0.8)
_state = 2;
break;
case 5:
if(_directionCh1 != Slope::EQUAL)
_currentPosition++;
if (_directionCh1 == Slope::INCREASING)
_state = 6;
else if (_directionCh1 == Slope::DECREASING && normCh1 <= 0.2)
_state = 7;
break;
case 6:
if(_directionCh1 != Slope::EQUAL)
_currentPosition--;
if (_directionCh1 == Slope::DECREASING)
_state = 5;
else if (_directionCh1 == Slope::INCREASING && normCh2 >= 0.2)
_state = 4;
break;
case 7:
if(_directionCh2 != Slope::EQUAL)
_currentPosition++;
if (_directionCh2 == Slope::DECREASING)
_state = 8;
else if (_directionCh2 == Slope::INCREASING && normCh2 >= 0.8)
_state = 1;
break;
case 8:
if(_directionCh2 != Slope::EQUAL)
_currentPosition--;
if (_directionCh2 == Slope::INCREASING)
_state = 7;
else if (_directionCh2 == Slope::DECREASING && normCh1 >= 0.2)
_state = 6;
break;
default:
break;
}
Serial.print("\rState: " + String(_state) +
"\tSlope Ch1: " + String(_directionCh1) + "\tnormCh1: " + String(normCh1)+
"\tSlope Ch2: " + String(_directionCh2) + "\tnormCh2: " + String(normCh2)+
"\tPosition: " + String(_currentPosition));
return _currentPosition;
} }

38
src/linearHallSensor.h
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@ -4,12 +4,6 @@
#include "Arduino.h" #include "Arduino.h"
#include "BLDCMotor.h" #include "BLDCMotor.h"
enum Slope : int8_t{
INCREASING = 1,
DECREASING = -1,
EQUAL = 0
};
/** /**
* @brief Linear Hall sensor class * @brief Linear Hall sensor class
* *
@ -21,8 +15,10 @@ class LinearHallSensor
Linear Hall Sensor class constructor Linear Hall Sensor class constructor
@param ch1 Analog pin for channel 1 @param ch1 Analog pin for channel 1
@param ch2 Analog pin for channel 2 @param ch2 Analog pin for channel 2
@param minPos Minimum position in Openloop
@param maxPos Maximum position in Openloop
*/ */
LinearHallSensor(uint8_t ch1, uint8_t ch2); LinearHallSensor(uint8_t ch1, uint8_t ch2, float minPos, float maxPos);
/** /**
@ -42,27 +38,23 @@ class LinearHallSensor
float readSensorCallback(); float readSensorCallback();
private: private:
uint8_t _analogPin1; uint32_t _analogPin1;
uint8_t _analogPin2; uint32_t _analogPin2;
uint16_t _maxCh1; // max values read from the ADC on channels during init
uint16_t _maxCh2; uint32_t _maxCh1;
uint16_t _minCh1; uint32_t _maxCh2;
uint16_t _minCh2; uint32_t _minCh1;
uint32_t _minCh2;
float _prevPosition;
float _currentPosition; float _currentPosition;
float _offset; float _estimatePosition; // current position + offset
float _offset; // offset angle measured at init
float _maxSensor; // Max angle value measured (so command from 0 to that value)
float _minPositionEndValue; float _minPositionEndValue; // min pos in open loop mode
float _maxPositionEndValue; float _maxPositionEndValue;
uint16_t _prevCh1;
uint16_t _prevCh2;
int8_t _directionCh1;
int8_t _directionCh2;
uint8_t _state;
}; };
#endif #endif

138
src/main.cpp
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@ -2,19 +2,14 @@
#include <SimpleFOC.h> #include <SimpleFOC.h>
#include <linearHallSensor.h> #include <linearHallSensor.h>
BLDCMotor motor = BLDCMotor(4);
BLDCDriver3PWM driver = BLDCDriver3PWM(7, 8, 9);
LinearHallSensor linearSensor = LinearHallSensor(A0, A1, -0.75, 2.35);
BLDCMotor motorX = BLDCMotor(4);
BLDCDriver3PWM driverX = BLDCDriver3PWM(3, 5, 6);
BLDCMotor motorY = BLDCMotor(4);
BLDCDriver3PWM driverY = BLDCDriver3PWM(7, 8, 9);
LinearHallSensor linearSensor = LinearHallSensor(A0, A1);
void initSensor() void initSensor()
{ {
linearSensor.init(motorY); linearSensor.init(motor);
} }
float callback() float callback()
@ -24,63 +19,10 @@ float callback()
GenericSensor sensor = GenericSensor(callback, initSensor); GenericSensor sensor = GenericSensor(callback, initSensor);
float targetX = 0.0; float targetX = 0.0;
float targetY = 0.0; float targetY = 0.0;
float target = 6.3; float target = 0.0;
void setup()
{
// X MOTR STUFF
driverX.voltage_power_supply = 5.0;
driverX.init();
motorX.linkDriver(&driverX);
motorX.foc_modulation = FOCModulationType::SpaceVectorPWM;
motorX.controller = MotionControlType::angle_openloop;
motorX.voltage_limit = 0.6;
// motorX.PID_velocity.P = 0.001f;
// motorX.PID_velocity.I = 20;
// motorX.PID_velocity.D = 0;
// motorX.LPF_velocity.Tf = 0.01f;
// motorX.P_angle.P = 20;
motorX.velocity_limit = 10;
// *************** Y MOTOR STUFF ******************
driverY.voltage_power_supply = 5.0;
driverY.init();
motorY.linkDriver(&driverY);
motorY.foc_modulation = FOCModulationType::SinePWM;
motorY.controller = MotionControlType::angle_openloop;
motorY.voltage_limit = 0.8;
// motorY.PID_velocity.P = 0.001f;
// motorY.PID_velocity.I = 0;
// motorY.PID_velocity.D = 0;
// motorY.LPF_velocity.Tf = 0.01f;
// motorY.P_angle.P = 0.1;
motorY.velocity_limit = 10;
Serial.begin(115200);
_delay(100);
Serial.println("INIT");
// initialize motor
motorX.init();
motorX.initFOC();
motorY.init();
motorY.initFOC();
motorX.disable();
Serial.println(F("Motor ready."));
_delay(100);
Serial.println("calibrating...");
sensor.init();
Serial.println("Done\r\n");
motorY.disable();
}
void serialLoop() void serialLoop()
{ {
@ -104,29 +46,53 @@ float mapfloat(float x, float in_min, float in_max, float out_min, float out_max
return (float)(x - in_min) * (out_max - out_min) / (float)(in_max - in_min) + out_min; return (float)(x - in_min) * (out_max - out_min) / (float)(in_max - in_min) + out_min;
} }
void setup()
{
Serial.begin(115200);
_delay(100);
Serial.println("INIT");
pinMode(3, OUTPUT);
pinMode(5, OUTPUT);
pinMode(6, OUTPUT);
digitalWrite(3, LOW);
digitalWrite(5, LOW);
digitalWrite(6, LOW);
driver.voltage_power_supply = 6.0;
driver.init();
motor.linkDriver(&driver);
motor.useMonitoring(Serial);
motor.controller = MotionControlType::angle;
motor.foc_modulation = FOCModulationType::SinePWM;
motor.voltage_limit = 1.5;
motor.voltage_sensor_align = 0.8;
motor.PID_velocity.P = 0.075f;
motor.PID_velocity.I = 0.01;
motor.PID_velocity.D = 0.0;
motor.LPF_velocity.Tf = 0.01f;
motor.P_angle.P = 200.0;
motor.P_angle.I = 50.0;
motor.velocity_limit = 50;
motor.useMonitoring(Serial);
// Init sensor
motor.init();
Serial.println("calibrating sensor in open loop...");
sensor.init();
Serial.println("Done");
delay(1000);
motor.linkSensor(&sensor);
motor.init();
motor.initFOC();
}
void loop() void loop()
{ {
sensor.update(); serialLoop();
// serialLoop(); motor.move(target);
motor.loopFOC();
// int senseX = analogRead(A2); motor.monitor();
// int senseY = analogRead(A3);
// targetX = mapfloat(senseX, 0.0, 1024.0, -0.6, 1.2);
// targetY = mapfloat(senseY, 0.0, 1024.0, -0.5, 2.2);
// Serial.print("senseX=");
// Serial.print(senseX);
// Serial.print("\t mappedX=");
// Serial.print(targetX);
// Serial.print("\t senseY=");
// Serial.print(senseY);
// Serial.print("\t mappedY=");
// Serial.println(targetY);
// motorX.move(targetX);
// motorX.loopFOC();
// motorY.move(targetY);
// motorY.loopFOC();
} }