Hi all!
I have been having a heck of a time getting my setup to work (see tags for devices). I am doing all my programming in PlatformIO within Visual Studio Code.
I have been able to get the angle off of my AS5048B (the I2C one) following step 1 here. However the velocity is a bit noisy as it bounces between around -1.5 and 1.5 when I don’t spin the shaft. The angle stays constant to the second decimal place.
Step 2 (open loop velocity) works as well, but when I set the motor on my wooden desk, it makes a fast tapping sound as it spins (I assume this is normal for stepper motors is this mode?)
Step 3 ( Closed-loop control - torque using voltage) is where problems really start. I hear the motor click about 2 times after flashing the ESP32 with the code bellow. All that changes when I change my target is the current drawn from my power supply, but the motor does not spin! It stays completely silent and cant be spun by hand. I did notice that it looks like it takes a step when I switch my target from +3 to -3 in a direction in accordance with the sign.
#include <Arduino.h>
#include <SimpleFOC.h>
// Stepper motor instance
StepperMotor motor = StepperMotor(50, 1.5, 20.6);
// Stepper driver instance
StepperDriver4PWM driver = StepperDriver4PWM(33, 32, 25, 26, 27, 14);
// Encoder instance
MagneticSensorI2C encoder = MagneticSensorI2C(AS5048_I2C);
// instantiate the commander
Commander command = Commander(Serial);
void doTarget(char* cmd) { command.scalar(&motor.target, cmd); }
void setup() {
// initialize encoder sensor hardware
encoder.init();
// link the motor to the sensor
motor.linkSensor(&encoder);
// driver config
// power supply voltage [V]
driver.voltage_power_supply = 12;
driver.init();
// link driver
motor.linkDriver(&driver);
// aligning voltage
motor.voltage_sensor_align = 5;
// set motion control loop to be used
motor.torque_controller = TorqueControlType::voltage;
motor.controller = MotionControlType::torque;
// add current limit
// motor.phase_resistance = 3.52 // [Ohm]
// motor.current_limit = 2; // [Amps] - if phase resistance defined
// use monitoring with serial
Serial.begin(115200);
// comment out if not needed
motor.useMonitoring(Serial);
// initialize motor
motor.init();
// align sensor and start FOC
motor.initFOC();
// set the initial motor target
// motor.target = 0.2; // Amps - if phase resistance defined
motor.target = 2; // Volts
// add target command T
// command.add('T', doTarget, "target current"); // - if phase resistance defined
command.add('T', doTarget, "target voltage");
Serial.println(F("Motor ready."));
Serial.println(F("Set the target using serial terminal:"));
_delay(1000);
}
void loop() {
// main FOC algorithm function
motor.loopFOC();
// Motion control function
motor.move();
// user communication
command.run();
}
This is the beginning of the serial port after flashing followed by some of the targets I set:
MOT: Enable driver.
MOT: Align sensor.
MOT: Skip dir calib.
MOT: Zero elec. angle: 0.00
MOT: Ready.
Motor ready.
Set the target using serial terminal:
T1
1.000
T3
3.000
T-3
-3.000
T3
3.000
T-3
-3.000
Is it possible to get a perfect 0 electric angle? I figured the majority of my problems are coming from an FOC calibration that isn’t being run for some reason.
Any and all help would be appreciated 