SimpleFoc Balancer, command format

applications
1

Hello,

I have built a balancing robot based on the simple FOC balancer example. I am using an esp32, gimbal motors, AS5600 encoders, simpleFOC mini drivers and an MPU6050. I am at the point where I am tuning the PID parameters. I am doing this manually by updating the code but off coarse this is very tedious. Could someone clarify the use of the commander functions in this example of the code. Using a ? I see the A-E commands. I need clarification of the format of the command line used at the serial terminal to change each parameter. Thank you in advance. Glenn

2

Also, if someone has developed an alternate android interface which has the ability to update the PID parameters as well as control the robot that would be great.

3

I developed a set of commands to interact with a trapezoidal trajectory planner. You can see how it should be implemented based on the following example:

void doPlanner(char *cmd){
  planner.doTrapezoidalPlannerCommand(cmd);
}

Commander commander = Commander(Serial);
commander.add('G', doPlanner, "Motion Planner");

The doTrapezoidalPlannerCommand function is defined here: