Hi
I’m trying do open loop control. While I’m using this code with values inside motor.move(), motor is running perfectly. But I cant control with serial monitor. I have to maintain the motor.move(target_postion) and change position values in the serial monitor. While I’m using the code with serial monitor the current is changing without motor running. What should I do for that? Can anyone help. I’m attaching the code below.
// Open loop motor control example
#include <SimpleFOC.h>
// BLDC motor & driver instance
// BLDCMotor motor = BLDCMotor(pole pair number);
BLDCMotor motor = BLDCMotor(2);
// BLDCDriver3PWM driver = BLDCDriver3PWM(pwmA, pwmB, pwmC, Enable(optional));
BLDCDriver3PWM driver = BLDCDriver3PWM(9, 5, 6, 8);
// Stepper motor & driver instance
//StepperMotor motor = StepperMotor(50);
//StepperDriver4PWM driver = StepperDriver4PWM(9, 5, 10, 6, 8);
//target variable
float target_position = 0;
// instantiate the commander
Commander command = Commander(Serial);
void doTarget(char* cmd) { command.scalar(&target_position, cmd); }
void doLimit(char* cmd) { command.scalar(&motor.voltage_limit, cmd); }
void doVelocity(char* cmd) { command.scalar(&motor.velocity_limit, cmd); }
void setup() {
// driver config
// power supply voltage [V]
driver.voltage_power_supply =12;
// limit the maximal dc voltage the driver can set
// as a protection measure for the low-resistance motors
// this value is fixed on startup
driver.voltage_limit =6 ;
driver.init();
// link the motor and the driver
motor.linkDriver(&driver);
// limiting motor movements
// limit the voltage to be set to the motor
// start very low for high resistance motors
// currnet = resistance*voltage, so try to be well under 1Amp
motor.voltage_limit = 3; // [V]
// limit/set the velocity of the transition in between
// target angles
motor.velocity_limit = 5; // [rad/s] cca 50rpm
// open loop control config
motor.controller = MotionControlType::angle_openloop;
// init motor hardware
motor.init();
// add target command T
command.add(‘T’, doTarget, “target angle”);
command.add(‘L’, doLimit, “voltage limit”);
command.add(‘V’, doLimit, “movement velocity”);
Serial.begin(115200);
// motor.useMonitoring(Serial);
Serial.println(“Motor ready!”);
Serial.println(“Set target position [rad]”);
_delay(1000);
}
void loop() {
// open loop angle movements
// using motor.voltage_limit and motor.velocity_limit
motor.move(target_position);
// user communication
command.run();
}
