I’m using simplefoc mini to control gimbal BLDC motor 2804 100T , encoder AS 5600 I2C (closed loop control example)
Motor init shaking (few months ago it’s not working like that)
I also checked encoder value no abnormal.
I want to ask if there’s no problem with my code, maybe the problem comes from the driver. Thanks!
Here is the code I used to test:
/***
* Position/angle motion control example
* Steps:
* 1) Configure the motor and magnetic sensor
* 2) Run the code
* 3) Set the target angle (in radians) from serial terminal
*
*/
#include <SimpleFOC.h>
// magnetic sensor instance - SPI
//MagneticSensorSPI sensor = MagneticSensorSPI(AS5147_SPI, 10);
// magnetic sensor instance - MagneticSensorI2C
MagneticSensorI2C sensor = MagneticSensorI2C(AS5600_I2C);
// magnetic sensor instance - analog output
// MagneticSensorAnalog sensor = MagneticSensorAnalog(A1, 14, 1020);
// BLDC motor & driver instance
BLDCMotor motor = BLDCMotor(7);//BLDC 2804 100T
BLDCDriver3PWM driver = BLDCDriver3PWM(6, 5, 3, 8);// arduino nano
// Stepper motor & driver instance
//StepperMotor motor = StepperMotor(50);
//StepperDriver4PWM driver = StepperDriver4PWM(9, 5, 10, 6, 8);
// angle set point variable
float target_angle = 0;
// instantiate the commander
Commander command = Commander(Serial);
void doTarget(char* cmd) { command.scalar(&target_angle, cmd); }
void setup() {
// initialise magnetic sensor hardware
sensor.init();
// link the motor to the sensor
motor.linkSensor(&sensor);
// driver config
// power supply voltage [V]
driver.voltage_power_supply = 12;
driver.init();
// link the motor and the driver
motor.linkDriver(&driver);
// choose FOC modulation (optional)
motor.foc_modulation = FOCModulationType::SpaceVectorPWM;
// set motion control loop to be used
motor.controller = MotionControlType::angle;
// contoller configuration
// default parameters in defaults.h
// velocity PI controller parameters
motor.PID_velocity.P = 0.2f;
motor.PID_velocity.I = 20;
motor.PID_velocity.D = 0;
// maximal voltage to be set to the motor
motor.voltage_limit = 6;
// velocity low pass filtering time constant
// the lower the less filtered
motor.LPF_velocity.Tf = 0.01f;
// angle P controller
motor.P_angle.P = 20;
// maximal velocity of the position control
motor.velocity_limit = 20;
// 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 angle”);
Serial.println(F(“Motor ready.”));
Serial.println(F(“Set the target angle using serial terminal:”));
_delay(1000);
}
void loop() {
// main FOC algorithm function
// the faster you run this function the better
// Arduino UNO loop ~1kHz
// Bluepill loop ~10kHz
motor.loopFOC();
// Motion control function
// velocity, position or voltage (defined in motor.controller)
// this function can be run at much lower frequency than loopFOC() function
// You can also use motor.move() and set the motor.target in the code
motor.move(target_angle);
// function intended to be used with serial plotter to monitor motor variables
// significantly slowing the execution down!!!
// motor.monitor();
// user communication
command.run();
}