Hi guys,
I’ve spent some time testing and extending the HybridStepperMotor code and I actually love it.
It’s so simple and it allows to control the stepper motor with BLDC drivers that are much easier to find, and have much higher torque capacity.
I’ve extended the code to allow for current sensing support and the true FOC control, and an initial support for current sense alignment with the driver. This one has been quickly tested, it seems to work in my case at least. It needs more testing to figure out all strange the edge cases, but its not critical.
I would love to have this code in the main library and I’ve made a PR that does the transfer:
- Arduino-FOC: Feat hybrid stepper to main + implement current sensing for it by askuric · Pull Request #457 · simplefoc/Arduino-FOC · GitHub
- Arduino-FOC-drivers: Feat hybridstepper to main by askuric · Pull Request #55 · simplefoc/Arduino-FOC-drivers · GitHub
Of course in order to be easy to use we need to do much more code examples and explaining but it does work and I am very happy with the results.
Great work guys!
Here is a video of a NEAM17 controlled with the SimpleFOCShield v3.1, in foc_current torque control mode. (setting 0.5A positive and negative current)