Does anyone have full code to run drv8302 with esp32 on platformIO, I’m a novice trying to run the drv8302 3pwm code on platformIO, It compiles on arduino IDE but I’m getting
‘MCPWM_SELECT_SYNC_INT0’ was not declared in this scope
identifier “MCPWM_SELECT_SYNC_INT0” is undefined
‘serialReceiveUserCommand’ was not declared in this scope
Here is my code
/**
-
ESP32 position motion control example with encoder
*/
#include <SimpleFOC.h>
#include <Arduino.h>
// Motor instance
BLDCMotor motor = BLDCMotor(11);
BLDCDriver3PWM driver = BLDCDriver3PWM(25, 26, 27, 7);
// encoder instance
Encoder encoder = Encoder(4, 2, 1024);
// Interrupt routine intialisation
// channel A and B callbacks
void doA(){encoder.handleA();}
void doB(){encoder.handleB();}
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;
driver.init();
// link the motor and the driver
motor.linkDriver(&driver);
// aligning voltage [V]
motor.voltage_sensor_align = 3;
// index search velocity [rad/s]
motor.velocity_index_search = 3;
// set motion control loop to be used
motor.controller = ControlType::velocity;
// 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 = 6;
// 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 = 4;
// 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();
Serial.println(“Motor ready.”);
Serial.println(“Set the target angle using serial terminal:”);
_delay(1000);
}
// angle set point variable
float target_angle = 0;
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(target_angle);
// function intended to be used with serial plotter to monitor motor variables
// significantly slowing the execution down!!!
// motor.monitor();
// user communication
serialReceiveUserCommand();
}
// utility function enabling serial communication with the user to set the target values
// this function can be implemented in serialEvent function as well
void serialReceiveUserCommand() {
// a string to hold incoming data
static String received_chars;
while (Serial.available()) {
// get the new byte:
char inChar = (char)Serial.read();
// add it to the string buffer:
received_chars += inChar;
// end of user input
if (inChar == '\n') {
// change the motor target
target_angle = received_chars.toFloat();
Serial.print("Target angle: ");
Serial.println(target_angle);
// reset the command buffer
received_chars = "";
}
}
}