Motor.motion_downsample always zero

luka · August 3, 2024, 2:57am

I could not set motor.motion_downsample. It is always zero (the default value) regardless how I set it in the setup(). I tried to put motor.motion_downsample = 2;

before motor.init()
before motor.initFOC()
after motor.initFOC()
in loop()

All failed. But I was able to set motor.monitor_downsample. Could someone help?

My setup

MCU: Arduino Mega
Driver: Simplefoc Shield V2.0.4
Motor: T-motor gimbal motor
Sensor: AS5047P
Programming env: Arduino IDE
Power supply: 3S Lipo

Code

#include <SimpleFOC.h>

MagneticSensorSPI sensor = MagneticSensorSPI(AS5147_SPI, 53);

BLDCMotor motor = BLDCMotor(7, 14.4);
BLDCDriver3PWM driver = BLDCDriver3PWM(9, 5, 6, 8);

Commander commander = Commander(Serial);
void onMotor(char* cmd){ commander.motor(&motor,cmd); }


void setup() {

  Serial.begin(115200);
  SimpleFOCDebug::enable(&Serial);

  sensor.init();
  motor.linkSensor(&sensor);

  driver.voltage_power_supply = 11.5;
  driver.init();
  motor.linkDriver(&driver);

  motor.voltage_sensor_align = 2;
  motor.foc_modulation = FOCModulationType::SpaceVectorPWM;
  motor.controller = MotionControlType::torque;

  motor.target = 0;

  motor.useMonitoring(Serial);
  motor.monitor_downsample = 120;
  motor.motion_downsample = 2;

  motor.init();
  // motor.motion_downsample = 2;

  motor.initFOC();
  // motor.motion_downsample = 2;


  commander.add('M',onMotor,"my motor motion");

  Serial.println(F("Motor ready."));
  Serial.println(F("Set the target voltage using serial terminal:"));
  _delay(1000);

}

void loop() {
  // motor.motion_downsample = 2;

  motor.loopFOC();

  motor.move();
  
  commander.run();
}

Serial monitor output