Original commit: openloop ok

src/main.cpp

@@ -0,0 +1,118 @@
+#include <Arduino.h>
+#include <SimpleFOC.h>
+
+MagneticSensorAnalog sensor = MagneticSensorAnalog(A0, 183, 512);
+
+BLDCMotor motorX = BLDCMotor(4);
+BLDCDriver3PWM driverX = BLDCDriver3PWM(3, 5, 6);
+
+BLDCMotor motorY = BLDCMotor(4);
+BLDCDriver3PWM driverY = BLDCDriver3PWM(7, 8, 9);
+
+float targetX = 0.0;
+float targetY = 0.0;
+
+float target = 6.3;
+
+void setup()
+{
+
+  sensor.init();
+  // motorY.linkSensor(&sensor);
+
+  // 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.PID_velocity.P = 0.02f;
+  motorX.PID_velocity.I = 20;
+  motorX.PID_velocity.D = 0;
+  motorX.voltage_limit = 0.8;
+  motorX.LPF_velocity.Tf = 0.01f;
+  motorX.P_angle.P = 20;
+  motorX.velocity_limit = 20;
+
+  // *************** Y MOTOR STUFF ******************
+  driverY.voltage_power_supply = 5.0;
+  driverY.init();
+  motorY.linkDriver(&driverY);
+  motorY.foc_modulation = FOCModulationType::SpaceVectorPWM;
+  motorY.controller = MotionControlType::angle_openloop;
+  motorY.PID_velocity.P = 0.001f;
+  motorY.PID_velocity.I = 0;
+  motorY.PID_velocity.D = 0;
+  motorY.voltage_limit = 0.8;
+  motorY.LPF_velocity.Tf = 0.01f;
+  motorY.P_angle.P = 0.1;
+  motorY.velocity_limit = 3;
+
+  Serial.begin(115200);
+  _delay(100);
+  Serial.println("INIT");
+
+  // initialize motor
+  motorX.init();
+  motorX.initFOC();
+  motorY.init();
+  motorY.initFOC();
+
+  Serial.println(F("Motor ready."));
+  _delay(1000);
+  // Serial.println(sensor.getPreciseAngle());
+
+}
+
+void serialLoop()
+{
+  static String received_chars;
+  while (Serial.available())
+  {
+    char inChar = (char)Serial.read();
+    received_chars += inChar;
+    if (inChar == '\n')
+    {
+      target = received_chars.toFloat();
+      Serial.print("Target = ");
+      Serial.print(target);
+      received_chars = "";
+    }
+  }
+}
+
+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;
+}
+
+void loop()
+{
+  sensor.update();
+
+  // Serial.println(sensor.getPreciseAngle());
+  // delay(5);
+
+  serialLoop();
+
+  int senseX = analogRead(A2);
+  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();
+}

src/main.cppfr

@@ -0,0 +1,38 @@
+// Test file 
+
+#include <Arduino.h>
+
+const int analogInPin = A2;  // Analog input pin that the potentiometer is attached to
+//const int analogOutPin = 9; // Analog output pin that the LED is attached to
+
+int sensorValue = 0;        // value read from the pot
+int maxValue = 200;
+int minValue = 200;
+
+void setup() {
+  // initialize serial communications at 9600 bps:
+  Serial.begin(115200);
+}
+
+void loop() {
+  // read the analog in value:
+  sensorValue = analogRead(analogInPin);
+
+  if(sensorValue > maxValue)
+  {
+    maxValue = sensorValue;
+  }
+  else if(sensorValue < minValue)
+  {
+    minValue = sensorValue;
+  }
+
+  Serial.print("sensor = ");
+  Serial.print(sensorValue);
+  Serial.print("\t min=");
+  Serial.print(minValue);
+  Serial.print("\tmax=");
+  Serial.println(maxValue);
+
+  delay(2);
+}