SimpleFOCGenerator by Stijns Projects link

Download the SimpleFOCGeneratorApp for offline use. link

What type of motor are you using? link




What driver type do you want to use or what board are you using? link








3pwm



6pwm



2pwm4



2pwm2



4pwm

What angle / position sensor are you using? link













What type of current sensing are you using or what board are you using? link





inline



lowside



inline

What type of motion controller do you want to use? link




What type of torque controller do you want to use? link


What type of FOC modulation do you want to use? link


Select what you want to use:


Code

#include <SimpleFOC.h>

// BLDC motor instance BLDCMotor(polepairs, (R), (KV), (L))
BLDCMotor motor = BLDCMotor();

// Stepper motor instance StepperMotor(polepairs, (R), (KV), (L))
StepperMotor motor = StepperMotor();

// BLDC driver instance BLDCDriver3PWM(phA, phB, phC, (en))
BLDCDriver3PWM driver = BLDCDriver3PWM();

// BLDC driver instance BLDCDriver6PWM(phA_h, phA_l, phB_h, phB_l, phC_h, phC_l, (en))
BLDCDriver6PWM driver = BLDCDriver6PWM();

// Stepper driver instance StepperDriver4PWM(pwm1, ph1A, ph1B, pwm2, ph2A, ph2B, (en1), (en2))
StepperDriver2PWM driver = StepperDriver2PWM();

// Stepper driver instance StepperDriver2PWM(pwm1, dir1, pwm2, dir2, (en1), (en2))
StepperDriver2PWM driver = StepperDriver2PWM();

// Stepper driver instance StepperDriver4PWM(ph1A, ph1B, ph2A, ph2B, (en1), (en2))
StepperDriver4PWM driver = StepperDriver4PWM();

// BLDC driver instance BLDCDriver6PWM(phA_h, phA_l, phB_h, phB_l, phC_h, phC_l, (en))
BLDCDriver6PWM driver = BLDCDriver6PWM(A_PHASE_UH, A_PHASE_UL, A_PHASE_VH, A_PHASE_VL, A_PHASE_WH, A_PHASE_WL);

// BLDC driver instance BLDCDriver3PWM(phA, phB, phC, (en))
BLDCDriver3PWM driver = BLDCDriver3PWM();

// BLDC driver instance BLDCDriver3PWM(phA, phB, phC, (en))
BLDCDriver3PWM driver = BLDCDriver3PWM();

// Stepper driver instance StepperDriver4PWM(ph1A, ph1B, ph2A, ph2B, (en1), (en2))
StepperDriver4PWM driver = StepperDriver4PWM();

// position / angle sensor instance Encoder(encA, encB , cpr, (index))
// these should be hardware interrupt pins, these are not the same for all microcontrollers https://docs.simplefoc.com/encoder#step-3-encoder-interrupt-setup
Encoder sensor = Encoder();
void doA(){sensor.handleA();}
void doB(){sensor.handleB();}
void doIndex(){sensor.handleIndex();}


// position / angle sensor instance HallSensor(hallA, hallB , hallC , pole pairs)
HallSensor sensor = HallSensor();
void doA(){sensor.handleA();}
void doB(){sensor.handleB();}
void doC(){sensor.handleC();}

// position / angle sensor instance MagneticSensorSPI(chip select, bit resolution, angle register)
MagneticSensorSPI sensor = MagneticSensorSPI();

// position / angle sensor instance MagneticSensorI2C(chip address, bit resolution, angle read register msb, used msb register bits)
MagneticSensorI2C sensor = MagneticSensorI2C();

// position / angle sensor instance MagneticSensorAnalog(analog pin, minimum, maximum)
MagneticSensorAnalog sensor = MagneticSensorAnalog();

// position / angle sensor instance MagneticSensorPWM(PWM pin, minimum pulse, maximum pulse)
MagneticSensorPWM sensor = MagneticSensorPWM();

// create the buffering function
void doPWM(){sensor.handlePWM();}

// position / angle sensor instance MagneticSensorSPI(chip select, AS5147_SPI)
MagneticSensorSPI sensor = MagneticSensorSPI(, AS5147_SPI);

// position / angle sensor instance MagneticSensorSPI(chip select, MA730_SPI)
MagneticSensorSPI sensor = MagneticSensorSPI(, MA730_SPI);

// position / angle sensor instance
MagneticSensorI2C sensor = MagneticSensorI2C(AS5600_I2C);

// position / angle sensor instance
MagneticSensorI2C sensor = MagneticSensorI2C(AS5048_I2C);

// inline current sense instance InlineCurrentSense(R, gain, phA, phB, (phC))
InlineCurrentSense currentsense = InlineCurrentSense();

// lowside current sense instance LowsideCurrentSense(R, gain, phA, phB, (phC))
LowsideCurrentSense currentsense = LowsideCurrentSense();

// inline current sense instance InlineCurrentSense(R, gain, phA, phB, (phC))
InlineCurrentSense currentsense = InlineCurrentSense(0.01, 50);

// inline current sense instance InlineCurrentSense(R, gain, phA, phB, phC)
InlineCurrentSense currentsense = InlineCurrentSense(0.003, -64.0/7.0, A_OP1_OUT, A_OP2_OUT, A_OP3_OUT);

// commander instance
Commander command = Commander(Serial);
void doTarget(char* cmd){command.motion(&motor, cmd);}

void setup() {
    // start serial
    Serial.begin(115200);

    // set I2C clock speed
    Wire.setClock(400000);

    // USE_EXTERN is default (1k - 5k recommended), change to USE_INTERN if needed
    sensor.pullup = Pullup::USE_EXTERN;
    // initialize sensor
    sensor.init();
    // enable encoder interrupts
    sensor.enableInterrupts(doA, doB, doIndex);
    // enable Hall effect interrupts
    sensor.enableInterrupts(doA, doB, doC);
    // enable PWM interrupts
    sensor.enableInterrupt(doPWM);

    // link sensor to motor
    motor.linkSensor(&sensor);

    // set power supply voltage
    driver.voltage_power_supply = ;
    // set driver voltage limit, this phase voltage
    driver.voltage_limit = ;
    // initialize driver
    driver.init();
    // link driver to motor
    motor.linkDriver(&driver);

    // link driver to current sense
    currentsense.linkDriver(&driver);

    // set motion control type to torque (default)
    motor.controller = MotionControlType::torque;

    // set motion control type to velocity
    motor.controller = MotionControlType::velocity;

    // set motion control type to angle / position
    motor.controller = MotionControlType::angle;

    // set motion control type to velocity openloop
    motor.controller = MotionControlType::velocity_openloop;

    // set motion control type to angle / postion openloop
    motor.controller = MotionControlType::angle_openloop;

    // set torque control type to voltage (default)
    motor.torque_controller = TorqueControlType::voltage;

    // set torque control type to DC current
    motor.torque_controller = TorqueControlType::dc_current;

    // set torque control type to FOC current
    motor.torque_controller = TorqueControlType::foc_current;

    // set FOC modulation type to sinusoidal
    motor.foc_modulation = FOCModulationType::SinePWM;

    // set FOC modulation type to trapezoidal 120
    motor.foc_modulation = FOCModulationType::Trapezoid_120;

    // set FOC modulation type to trapezoidal 150
    motor.foc_modulation = FOCModulationType::Trapezoid_150;

    // set FOC modulation type to space vector modulation
    motor.foc_modulation = FOCModulationType::SpaceVectorPWM;

    // velocity PID controller
    motor.PID_velocity.P = ;
    motor.PID_velocity.I = ;
    motor.PID_velocity.D = ;
    // angle / position P controller
    motor.P_angle.P = ;
    // set motor voltage limit, this limits Vq
    motor.voltage_limit = ;
    // set motor velocity limit
    motor.velocity_limit = ;
    // set motor current limit, this limits Iq
    motor.current_limit = ;

    // use monitoring
    motor.useMonitoring(Serial);

    // initialize motor
    motor.init();

    // initialize current sensing and link it to the motor
    // https://docs.simplefoc.com/inline_current_sense#where-to-place-the-current_sense-configuration-in-your-foc-code
    currentsense.init();
    motor.linkCurrentSense(&currentsense);

    // align sensor and start FOC
    motor.initFOC();

    // add command to commander
    command.add('M', doTarget, "target");

    _delay(1000);
}

void loop() {
    // main FOC algorithm function, the higher the execution frequency, the better, don't put delays in the loop
    motor.loopFOC();

    // this function can be run at much lower frequency than loopFOC()
    motor.move();

    // significantly slowing the execution down
    motor.monitor();

    // user communication
    command.run();
}

paypal

Please leave your suggestion or the mistake you found here: