I used B-G431B-ESC1 with 5010 360Kv motor in PlatformIO.
I went to try that control Open Loop Velocity, but the motor keeps turning, stopping, and going back and forth again.
I checked the CCR register value, and the CCR value seems to be drawing the sin wave normally as in the image below.
However, when looking at the change in voltage with the multimeter, the voltage in CH2 of TIM1, the V phase has the same minimum voltage but lower maximum voltage compared to the other.
The voltage on V phase couldn’t go over 6V, So I tried to forced change the CCR register value 1.2 times the original value, but it did not go over 6V in the same way.
this is my platformio.ini file
[env:disco_b_g431b_esc1]
platform = ststm32
board = disco_b_g431b_esc1
board_build.mcu = stm32g431cbu6
board_build.f_cpu = 170000000L
framework = arduino
upload_protocol = stlink
monitor_speed = 115200
build_flags =
-D PIO_FRAMEWORK_ARDUINO_ENABLE_CDC
-D PIO_FRAMEWORK_ARDUINO_NANOLIB_FLOAT_PRINTF
lib_deps =
askuric/Simple FOC@2.2.3
SPI
Wire
lib_archive = false
and this is my main code
#include <Arduino.h>
#include <SimpleFOC.h>
#define POTENTIOMETER PB12
Encoder encoder = Encoder(PB6, PB7,4096, PB8);
BLDCMotor motor = BLDCMotor(7);
BLDCDriver6PWM driver = BLDCDriver6PWM(A_PHASE_UH, A_PHASE_UL, A_PHASE_VH, A_PHASE_VL, A_PHASE_WH, A_PHASE_WL);
float target = 0.1;
float speed = 0.1;
void doA(){encoder.handleA();}// Serial2.println("a");}
void doB(){encoder.handleB();}//Serial2.println("b");}
void doC(){encoder.handleIndex();}//Serial2.println("z");}
long long t_ = 0;
void serialLoop() {
static String received_chars;
while(Serial2.available()) {
char inChar = (char) Serial2.read();
received_chars += inChar;
if(inChar == '\n') {
target = received_chars.toFloat();
Serial2.print("Target = "); Serial2.println(target);
received_chars = "";
}
}
}
void setup() {
Serial2.begin(115200);
delay(1000);
encoder.quadrature = Quadrature::ON;
// check if you need internal pullups
encoder.pullup = Pullup::USE_EXTERN;
encoder.init();
encoder.enableInterrupts(doA, doB, doC);
driver.voltage_power_supply = 12;
driver.init();
motor.linkDriver(&driver);
motor.voltage_limit = 1;
motor.velocity_limit = 2000;
motor.controller = MotionControlType::velocity_openloop;
motor.init();
motor.enable();
//while(1) {}
}
long long time0 = 0;
uint32_t maxs = 0;
uint32_t mins = 0xFFFFFFFF;
void loop() {
serialLoop();
if (millis() - time0 >= 10) {
time0 = millis();
if (target < speed) speed = speed - 0.1;
else if (target > speed) speed = speed + 0.1;
}
motor.move(speed);
// Serial2.print(encoder.getSensorAngle());
// Serial2.print("\t");
//Serial2.println(encoder.getVelocity());
if (millis() - t_ > 200 ) {
Serial2.print((float)TIM1->CCR1);
Serial2.print("\t");
Serial2.print((float)TIM1->CCR2);
Serial2.print("\t");
Serial2.print((float)TIM1->CCR3);
Serial2.println("\t");
t_ = millis();
}
}
