3 motors working
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61
src/main.cpp
61
src/main.cpp
@ -4,12 +4,16 @@
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#include <pinout.h>
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BLDCMotor motor1 = BLDCMotor(4);
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BLDCDriver3PWM driver1 = BLDCDriver3PWM(M3_PWM1, M3_PWM2, M3_PWM3);
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LinearHallSensor linearSensor1 = LinearHallSensor(M3_Hall1, M3_Hall2);
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BLDCDriver3PWM driver1 = BLDCDriver3PWM(M1_PWM1, M1_PWM2, M1_PWM3);
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LinearHallSensor linearSensor1 = LinearHallSensor(M1_Hall1, M1_Hall2);
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BLDCMotor motor2 = BLDCMotor(4);
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BLDCDriver3PWM driver2 = BLDCDriver3PWM(M1_PWM2, M1_PWM1, M1_PWM3);
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LinearHallSensor linearSensor2 = LinearHallSensor(M1_Hall1, M1_Hall2);
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BLDCDriver3PWM driver2 = BLDCDriver3PWM(M2_PWM2, M2_PWM1, M2_PWM3);
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LinearHallSensor linearSensor2 = LinearHallSensor(M2_Hall1, M2_Hall2);
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BLDCMotor motor3 = BLDCMotor(4);
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BLDCDriver3PWM driver3 = BLDCDriver3PWM(M3_PWM2, M3_PWM1, M3_PWM3);
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LinearHallSensor linearSensor3 = LinearHallSensor(M3_Hall1, M3_Hall2);
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void initSensor1()
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{
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@ -29,8 +33,18 @@ float callback2()
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return linearSensor2.readSensorCallback();
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}
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void initSensor3()
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{
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linearSensor3.init(motor3);
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}
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float callback3()
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{
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return linearSensor3.readSensorCallback();
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}
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GenericSensor sensor1 = GenericSensor(callback1, initSensor1);
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GenericSensor sensor2 = GenericSensor(callback2, initSensor2);
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GenericSensor sensor3 = GenericSensor(callback3, initSensor3);
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float targetX = 0.0;
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float targetY = 0.0;
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@ -73,7 +87,6 @@ void setup()
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Serial.println("\n\t\t### MOTOR 1 ###\n");
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driver1.voltage_power_supply = 7.0;
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Serial.println("Driver1 init: " + String(driver1.init()));
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Serial.println("Driver2 init: " + String(driver2.init()));
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motor1.linkDriver(&driver1);
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motor1.useMonitoring(Serial);
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motor1.controller = MotionControlType::angle;
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@ -100,7 +113,6 @@ void setup()
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motor1.initFOC(2.98, CW);
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// motor1.initFOC();
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Serial.println("Motor 1 Done");
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motor1.disable();
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delay(1000);
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@ -108,7 +120,7 @@ void setup()
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Serial.println("\n\t\t### MOTOR 2 ###\n");
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motor2.useMonitoring(Serial);
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driver2.voltage_power_supply = 7.0;
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// Serial.println("Driver init: " + String(driver2.init()));
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Serial.println("Driver init: " + String(driver2.init()));
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motor2.linkDriver(&driver2);
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motor2.controller = MotionControlType::angle;
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@ -135,6 +147,41 @@ void setup()
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// motor.initFOC(5.48, CCW);
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motor2.initFOC();
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Serial.println("Motor 2 Done");
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delay(1000);
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// ### MOTOR 3 ###
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Serial.println("\n\t\t### MOTOR 3 ###\n");
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motor3.useMonitoring(Serial);
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driver3.voltage_power_supply = 7.0;
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Serial.println("Driver init: " + String(driver3.init()));
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motor3.linkDriver(&driver3);
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motor3.controller = MotionControlType::angle;
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motor3.foc_modulation = FOCModulationType::SinePWM;
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motor3.voltage_limit = 1.0;
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motor3.voltage_sensor_align = 1.0;
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motor3.PID_velocity.P = 0.05f;
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motor3.PID_velocity.I = 0.01;
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motor3.PID_velocity.D = 0.0;
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motor3.LPF_velocity.Tf = 0.01f;
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motor3.P_angle.P = 150.0;
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motor3.P_angle.I = 10.0;
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motor3.velocity_limit = 25;
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// Init sensor 2
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motor3.init();
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Serial.println("calibrating sensor 2 in open loop...");
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sensor3.init();
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Serial.println("Sensor 2 done");
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delay(1000);
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motor3.linkSensor(&sensor3);
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motor3.init();
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// motor.initFOC(5.48, CCW);
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motor3.initFOC();
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Serial.println("Motor 3 Done");
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while(1);
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}
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void loop()
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