Hello all! I have been lookin around for an answer to this problem but could not find anything that helped so I am making this post.
I just want to say now I am a total noob, I have never really worked with motors before so I am a bit lost. I have very limited tools so im not sure how much data I can get.
Context: I am working on a robot and needed motors. I have most of it built but I cant get any motion because of the problem. I have got cycloidal drives that give a 1:13 reduction for each motor. I plan on running this with a IK model on python.
The problem is using positional controls with this BLDC motor. It just the same with the gearbox and any with load. It works fine with velocity mode.
I am using two simpleFocs V1 with a Arduino uno.
The motor is a MN6007 KV160.
I have a 12V 20A psu.
I have used example code with some minor edits attached below.
#include <SimpleFOC.h>
// BLDC motor & driver instance
//BLDCMotor motor = BLDCMotor(11, 10.5, 120);
BLDCMotor motor = BLDCMotor(11, (0.227, 160));
//BLDCDriver3PWM driver = BLDCDriver3PWM(3, 5, 11, 7);
BLDCDriver3PWM driver = BLDCDriver3PWM(9, 10, 6, 8);
// encoder instance
Encoder encoder = Encoder(3, 2, 2048);
// Interrupt routine intialisation
// channel A and B callbacks
void doA(){encoder.handleA();}
void doB(){encoder.handleB();}
// commander interface
Commander command = Commander(Serial);
void onMotor(char* cmd){ command.motor(&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;
// link driver
motor.linkDriver(&driver);
driver.init();
// choose FOC modulation
motor.foc_modulation = FOCModulationType::SpaceVectorPWM;
// set control loop type to be used
motor.controller = MotionControlType::angle_openloop;//_openloop
// monitoring port
Serial.begin(115200);
// comment out if not needed
motor.useMonitoring(Serial);
// initialise motor
motor.init();
// align encoder and start FOC
motor.initFOC();
// define the motor id
command.add('A', onMotor, "motor");
// Run user commands to configure and the motor (find the full command list in docs.simplefoc.com)
Serial.println(F("Motor commands sketch | Initial motion control > torque/voltage : target 2V."));
_delay(1000);
}
void loop() {
// iterative setting FOC phase voltage
motor.loopFOC();
// iterative function setting the outter loop target
// velocity, position or voltage
// if tatget not set in parameter uses motor.target variable
motor.move();
//Serial.print(encoder.getAngle());
//Serial.print("\n");
// user communication
command.run();
}
Thanks a ton for your time!