Hi @JorgeMaker;
The motor is “handmade” with a 3d printed rotor and a 10010 stator. The motor has 21 pole pairs. The sensor is an AS5048, not an AS5600.
I am able to move the motor at a constant speed with this code:
#include <SimpleFOC.h>
// DRV8302 pins connections
// don't forget to connect the common ground pin
#define INH_A PB_3
#define INH_B PB_4
#define INH_C PB_5
#define EN_GATE PA_2
#define M_PWM PB_7
#define M_OC PC_15
#define OC_ADJ PC_14
// motor instance
BLDCMotor motor = BLDCMotor(21);
// driver instance
BLDCDriver3PWM driver = BLDCDriver3PWM(INH_A, INH_B, INH_C, EN_GATE);
// Stepper motor & driver instance
//StepperMotor motor = StepperMotor(50);
//StepperDriver4PWM driver = StepperDriver4PWM(9, 5, 10, 6, 8);
int x=3;
// angle set point variable
float target_angle = 20;
// instantiate the commander
//Commander command = Commander(Serial);
//void doTarget(char* cmd) { command.scalar(&target_angle, cmd); }
void setup() {
// M_OC - enable over-current protection
pinMode(M_OC,OUTPUT);
digitalWrite(M_OC,LOW);
// M_PWM - enable 3pwm mode
pinMode(M_PWM,OUTPUT);
digitalWrite(M_PWM,HIGH);
// OD_ADJ - set the maximum over-current limit possible
// Better option would be to use voltage divisor to set exact value
pinMode(OC_ADJ,OUTPUT);
digitalWrite(OC_ADJ,HIGH);
// initialise magnetic sensor hardware
// link the motor to the sensor
// driver config
// power supply voltage [V]
driver.voltage_power_supply = 7;
driver.init();
// link the motor and the driver
motor.linkDriver(&driver);
// set motion control loop to be used
motor.controller = MotionControlType::velocity_openloop;
// contoller configuration
// default parameters in defaults.h
motor.voltage_limit = 10;
// velocity low pass filtering time constant
// the lower the less filtered
motor.LPF_velocity.Tf = 0.1f;
motor.LPF_angle.Tf = 0.1f;
// angle P controller
motor.P_angle.P =12;
// maximal velocity of the position control
motor.velocity_limit = 20;
// use monitoring with serial
Serial.begin(115200);
// comment out if not needed
motor.useMonitoring(Serial);
// initialize motor
motor.init();
// align sensor and start FOC
//float offset = float(PI / 100.0) * 816; //where guess = somewhere between 0 to 200.
//Direction direction = Direction::CW; // or Direction::CCW!
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
// the faster you run this function the better
// Arduino UNO loop ~1kHz
// Bluepill loop ~10kHz
motor.loopFOC();
// Motion control function
// velocity, position or voltage (defined in motor.controller)
// this function can be run at much lower frequency than loopFOC() function
// You can also use motor.move() and set the motor.target in the code
motor.move(5);
// function intended to be used with serial plotter to monitor motor variables
// significantly slowing the execution down!!!!
motor.monitor();
// user communication
//command.run();
}
But the when I try to do a closed loop position control it doesn’t work. Either it “Fail to notice movement” or estimate a much lower number of pole pairs during calibration (the rotor does move). This is what I tried:
#include <SimpleFOC.h>
#define INH_A PB_3
#define INH_B PB_4
#define INH_C PB_5
#define EN_GATE PA_2
#define M_PWM PB_7
#define M_OC PC_15
#define OC_ADJ PC_14
const byte Cs_pin_sensor=PB_8;
// motor instance
int nPolePairs=21;
BLDCMotor motor = BLDCMotor(nPolePairs);
// driver instance
BLDCDriver3PWM driver = BLDCDriver3PWM(INH_A, INH_B, INH_C, EN_GATE);
void setup() {
Serial.begin(115200);
SPI.begin();
pinMode(PB_8, OUTPUT); //Pin CS - salida
// M_OC - enable over-current protection
pinMode(M_OC,OUTPUT);
digitalWrite(M_OC,LOW);
// M_PWM - enable 3pwm mode
pinMode(M_PWM,OUTPUT);
digitalWrite(M_PWM,HIGH);
MagneticSensorSPI sensor = MagneticSensorSPI(AS5048_SPI, Cs_pin_sensor);
// OD_ADJ - set the maximum over-current limit possible
// Better option would be to use voltage divisor to set exact value
pinMode(OC_ADJ,OUTPUT);
digitalWrite(OC_ADJ,HIGH);
// initialise magnetic sensor hardware
sensor.init();
motor.linkSensor(&sensor);
// driver config
// power supply voltage [V]
driver.voltage_power_supply = 7;
driver.init();
// link the motor and the driver
motor.linkDriver(&driver);
// choose FOC modulation (optional)
motor.foc_modulation = FOCModulationType::SpaceVectorPWM;
// set motion control loop to be used
motor.controller = MotionControlType::angle;
// contoller configuration
// default parameters in defaults.h
// velocity PI controller parameters
motor.PID_velocity.P = 10.0f;
motor.PID_velocity.I = 0.02f;
motor.PID_velocity.D = 0.0f;
// maximal voltage to be set to the motor
motor.voltage_limit = 10;
// angle P controller
motor.P_angle.P = 10.0;
motor.P_angle.I = 0.1; // usually only P controller is enough
motor.P_angle.D = 0.0; // usually only P controller is enough // maximal velocity of the position control
motor.velocity_limit = 20;
motor.voltage_sensor_align = 2;
motor.monitor_variables = _MON_TARGET | _MON_VEL | _MON_ANGLE |_MON_VOLT_Q|_MON_VOLT_D|_MON_CURR_Q|_MON_CURR_D;
motor.useMonitoring(Serial);
motor.init();
motor.initFOC();
//initiate state machines
Serial.println("Motor ready.");
}
void loop() {
motor.loopFOC();
motor.move(1);
}
And as I said, it works in a Atmega2560.
@Anthony_Douglas
Sorry I got the sensor wrong, it is a AS5048_SPI.
