Thank you agein @runger. With this code it started to spin very slowly, and I could increase the speed with command T2 or T3. Very good. I feel that is a good start.
I use a 12 volt battery, but I have a controlbox where I can adjust the voltage and ampere. I started with 12V and 1 ampere, but increased it till 2 ampere to get a smuter run.
For 3 seconds I increased the max allowed current till 4 amp, G431 looked like it had no limit on current.
Maybe this is OK, but if I am doing something wrong here it would be nice to correct it before I burn the driver.
Regards
Svein
/**
- B-G431B-ESC1 position motion control example with encoder
*/
#include <SimpleFOC.h>
// Motor instance
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);
LowsideCurrentSense currentSense = LowsideCurrentSense(0.003, -64.0/7.0, A_OP1_OUT, A_OP2_OUT, A_OP3_OUT);
// encoder instance
//Encoder encoder = Encoder(A_HALL2, A_HALL3, 2048, A_HALL1);
// Interrupt routine intialisation
// channel A and B callbacks
//void doA(){encoder.handleA();}
//void doB(){encoder.handleB();}
//void doIndex(){encoder.handleIndex();}
// instantiate the commander
Commander command = Commander(Serial);
void doTarget(char* cmd) { command.motion(&motor, cmd); }
void setup() {
// initialize encoder sensor hardware
//encoder.init();
//encoder.enableInterrupts(doA, doB);
// link the motor to the sensor
//motor.linkSensor(&encoder);
// driver config
// power supply voltage [V]
driver.voltage_power_supply = 12;
// limit the maximal dc voltage the driver can set
// as a protection measure for the low-resistance motors
// this value is fixed on startup
driver.voltage_limit = 6;
driver.init();
// link the motor and the driver
motor.linkDriver(&driver);
// link current sense and the driver
currentSense.linkDriver(&driver);
// current sensing
currentSense.init();
// no need for aligning
currentSense.skip_align = true;
motor.linkCurrentSense(¤tSense);
/*
// aligning voltage [V]
motor.voltage_sensor_align = 3;
// index search velocity [rad/s]
motor.velocity_index_search = 3;
*/
// open loop control config
motor.controller = MotionControlType::velocity_openloop;
// contoller configuration
// default parameters in defaults.h
/*
// velocity PI controller parameters
motor.PID_velocity.P = 0.2;
motor.PID_velocity.I = 20;
// default voltage_power_supply
motor.voltage_limit = 3;
// jerk control using voltage voltage ramp
// default value is 300 volts per sec ~ 0.3V per millisecond
motor.PID_velocity.output_ramp = 1000;
// velocity low pass filtering time constant
motor.LPF_velocity.Tf = 0.01;
// angle P controller
motor.P_angle.P = 20;
*/
// maximal velocity of the position control
motor.velocity_limit = 2;
// use monitoring with serial
Serial.begin(115200);
// comment out if not needed
motor.useMonitoring(Serial);
// initialize motor
motor.init();
// align encoder and start FOC
//motor.initFOC();
// add target command T
command.add(‘T’, doTarget, “target angle”);
Serial.println(F(“Motor ready.”));
Serial.println(F(“Set the target angle using serial terminal:”));
_delay(1000);
}
void loop() {
// main FOC algorithm function
// Motion control function
motor.move();
// function intended to be used with serial plotter to monitor motor variables
// significantly slowing the execution down!!!
// motor.monitor();
// user communication
command.run();
}
look out for the next version of the library. there may be some developments in this direction