I have this problem, i have a gimbal motor and AMT103 Encoder. I used the code of the site but when I start program the motor go crazy, I can’t controll it and controll the right angle that I want.
This is the code:
#include <SimpleFOC.h>
// software interrupt library
#include <PciManager.h>
#include <PciListenerImp.h>
// BLDC motor & driver instance
BLDCMotor motor = BLDCMotor(14);
BLDCDriver3PWM driver = BLDCDriver3PWM(9, 10, 11, 8);
// Stepper motor & driver instance
//StepperMotor motor = StepperMotor(50);
//StepperDriver4PWM driver = StepperDriver4PWM(9, 5, 10, 6, 8);
// encoder instance
Encoder encoder = Encoder(2, 3, 8192, A0);
// Interrupt routine intialisation
// channel A and B callbacks
void doA(){encoder.handleA();}
void doB(){encoder.handleB();}
void doIndex(){encoder.handleIndex();}
// If no available hadware interrupt pins use the software interrupt
PciListenerImp listenerIndex(encoder.index_pin, doIndex);
// 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() {
// initialize encoder sensor hardware
encoder.init();
encoder.enableInterrupts(doA, doB);
// software interrupts
PciManager.registerListener(&listenerIndex);
// link the motor to the sensor
motor.linkSensor(&encoder);
// driver config
// power supply voltage [V]
driver.voltage_power_supply = 12;
driver.init();
// link the motor and the driver
motor.linkDriver(&driver);
// aligning voltage [V]
motor.voltage_sensor_align = 3;
// index search velocity [rad/s]
motor.velocity_index_search = 3;
// 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 = 0.2;
motor.PID_velocity.I = 20;
motor.PID_velocity.D = 0;
// default voltage_power_supply
motor.voltage_limit = 6;
// jerk control using voltage voltage ramp
// default value is 300 volts per sec ~ 0.3V per millisecond
motor.PID_velocity.output_ramp = 1000;
// velocity low pass filtering time constant
motor.LPF_velocity.Tf = 0.01;
// angle P controller
motor.P_angle.P = 20;
// maximal velocity of the position control
motor.velocity_limit = 4;
// use monitoring with serial
Serial.begin(115200);
// comment out if not needed
motor.useMonitoring(Serial);
// initialize motor
motor.init();
// align encoder 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();
}
This is the Serial Comunication:
MOT: Monitor enabled!
MOT: Init
MOT: Monitor enabled!
MOT: Init
MOT: Enable driver.
MOT: Align sensor.
MOT: sensor_direction==CCW
MOT: PP check: fail - estimated pp:141.8528
MOT: Zero elec. angle: 0.88
MOT: No current sense.
MOT: Ready.
Motor ready.
Set the target angle using serial terminal: