Some code question

developement
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1

hello.
i use shield v2.0.4 and AS5600 magnetic sensor, MKS 2808 bldc motor
i want to control motor velocity_control
so i use example code “velocity_control.ino”
but there was error that current sensor error
so i added code about current sensor, that is below.
but i’m not sure that’s right.

#include <SimpleFOC.h>

MagneticSensorI2C sensor = MagneticSensorI2C(AS5600_I2C);
InlineCurrentSense current_sense = InlineCurrentSense(0.01f, 50.0f, A0, A2);

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

float target_velocity = 1.57;

Commander command = Commander(Serial);
void doTarget(char* cmd) { command.scalar(&target_velocity, cmd); }

void setup() {

Serial.begin(115200);

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);

current_sense.init();
current_sense.gain_b *=-1;
current_sense.skip_align = true;
motor.linkCurrentSense(&current_sense);

motor.controller = MotionControlType::velocity;

motor.PID_velocity.P = 0.2f;
motor.PID_velocity.I = 20;
motor.PID_velocity.D = 0;

motor.voltage_limit = 6;

motor.PID_velocity.output_ramp = 1000;

motor.LPF_velocity.Tf = 0.01f;

//motor.useMonitoring(Serial);

motor.init();

motor.initFOC();

command.add(‘T’, doTarget, “target velocity”);

Serial.println(F(“Motor ready.”));
Serial.println(F(“Set the target velocity using serial terminal:”));
_delay(1000);
}

void loop() {

motor.loopFOC();

motor.move(target_velocity);

command.run();
}

2

Hi @ekftjgusrms , welcome to SimpleFOC!

Sorry that no one was able to help you with your problem so far.

Could you share the error message that you are getting?

May I suggest you try first without current sensing? Since you don’t set one of the current sensing modes in your code it is not being used anyway, and also it should not be needed for using this motor