The serial monitor now outputs a success message and the motor is still not running.
I’m trying to run a BLDC motor using Arduino Mega and a simpleFOCShield. The motor I’m using is an EC 45 flat+Encoder. I used the example code from the Writing Code → Motion Control → Closed-Loop Control → Torque Control → FOC Current Mode tab, and only three codes were modified as shown below. But the motor didn’t turn.
BLDC motor motor = BLDC motor (9);
encoder encoder = encoder (2, 3, 2048);
driver.voltage_power_supply = 12;
Here’s the code I used.
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#include <SimpleFOC.h>
// BLDC motor & driver instance
BLDCMotor motor = BLDCMotor(9);
BLDCDriver3PWM driver = BLDCDriver3PWM(9, 5, 6, 8);
// encoder instance
Encoder encoder = Encoder(2, 3, 2048);
// channel A and B callbacks
void doA(){encoder.handleA();}
void doB(){encoder.handleB();}
// current sensor
InlineCurrentSense current_sense = InlineCurrentSense(0.01, 50, A0, A2);
// instantiate the commander
Commander command = Commander(Serial);
void doTarget(char* cmd) { command.scalar(&motor.target, 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 = 24;
driver.init();
// link driver
motor.linkDriver(&driver);
// current sense init hardware
current_sense.init();
// link the current sense to the motor
motor.linkCurrentSense(¤t_sense);
// set torque mode:
motor.torque_controller = TorqueControlType::foc_current;
// set motion control loop to be used
motor.controller = MotionControlType::torque;
// foc current control parameters (Arduino UNO/Mega)
motor.PID_current_q.P = 5;
motor.PID_current_q.I= 300;
motor.PID_current_d.P= 50;
motor.PID_current_d.I = 300;
motor.LPF_current_q.Tf = 0.01;
motor.LPF_current_d.Tf = 0.01;
// 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();
// add target command T
command.add(‘T’, doTarget, “target current”);
Serial.println(F(“Motor ready.”));
Serial.println(F(“Set the target current using serial terminal:”));
_delay(1000);
}
void loop() {
motor.loopFOC();
motor.move(motor.target);
command.run();
}
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The following messages were printed on the serial monitor.
MOT: Monitor enabled!
MOT: Init
MOT: Enable driver.
MOT: Align sensor.
MOT: sensor_direction==CCW
MOT: PP check: OK!
MOT: Zero elec. angle: 6.28
MOT: Align current sense.
Can you tell me what kind of problem you have?
- There seems to be no hardware problem because the motor rotated when operating using other example codes.
and pole pair check is passing.