Merge pull request #7 from simplefoc/dev

1.0.2 Release

.github/workflows/ccpp.yml

@@ -26,32 +26,32 @@ jobs:
           - arduino:mbed_rp2040:pico                 # rpi pico          
         include:
           - arduino-boards-fqbn: arduino:avr:uno
-            required-libraries: Simple FOC
+            required-libraries: Simple FOC,SimpleFOCDrivers
           - arduino-boards-fqbn: arduino:sam:arduino_due_x
-            required-libraries: Simple FOC
+            required-libraries: Simple FOC,SimpleFOCDrivers
           - arduino-boards-fqbn: arduino:samd:nano_33_iot
-            required-libraries: Simple FOC 
+            required-libraries: Simple FOC,SimpleFOCDrivers
           - arduino-boards-fqbn: arduino:mbed_rp2040:pico
-            required-libraries: Simple FOC
+            required-libraries: Simple FOC,SimpleFOCDrivers
           - arduino-boards-fqbn: adafruit:samd:adafruit_metro_m4
             platform-url: https://adafruit.github.io/arduino-board-index/package_adafruit_index.json
-            required-libraries: Simple FOC
+            required-libraries: Simple FOC,SimpleFOCDrivers
           # - arduino-boards-fqbn: esp32:esp32:esp32doit-devkit-v1
           #   platform-url: https://dl.espressif.com/dl/package_esp32_index.json
           #   required-libraries: Simple FOC
           #   sketch-names: '**.ino'
           - arduino-boards-fqbn: esp32:esp32:esp32 # esp32 
-            platform-url: https://raw.githubusercontent.com/espressif/arduino-esp32/gh-pages/package_esp32_dev_index.json
-            required-libraries: Simple FOC
+            platform-url: https://espressif.github.io/arduino-esp32/package_esp32_index.json
+            required-libraries: Simple FOC,SimpleFOCDrivers
           - arduino-boards-fqbn: esp32:esp32:esp32s2 # esp32s2
-            platform-url: https://raw.githubusercontent.com/espressif/arduino-esp32/gh-pages/package_esp32_dev_index.json
-            required-libraries: Simple FOC
+            platform-url: https://espressif.github.io/arduino-esp32/package_esp32_index.json
+            required-libraries: Simple FOC,SimpleFOCDrivers
           - arduino-boards-fqbn: STMicroelectronics:stm32:GenF1:pnum=BLUEPILL_F103C8
             platform-url: https://github.com/stm32duino/BoardManagerFiles/raw/main/package_stmicroelectronics_index.json 
-            required-libraries: Simple FOC
+            required-libraries: Simple FOC,SimpleFOCDrivers
           - arduino-boards-fqbn: STMicroelectronics:stm32:Nucleo_64:pnum=NUCLEO_F411RE
             platform-url: https://github.com/stm32duino/BoardManagerFiles/raw/main/package_stmicroelectronics_index.json 
-            required-libraries: Simple FOC
+            required-libraries: Simple FOC,SimpleFOCDrivers
       # Do not cancel all jobs / architectures if one job fails
       fail-fast: false
     steps:

README.md

@@ -1,6 +1,13 @@
 # SimpleDCMotor
 
 
+![Library Compile](https://github.com/simplefoc/Arduino-FOC-dcmotor/workflows/Library%20Compile/badge.svg)
+[![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](https://opensource.org/licenses/MIT)
+![Release](https://www.ardu-badge.com/badge/SimpleDCMotor.svg?)
+
+
+Release 1.0.2 for SimpleFOC 2.3.1 or later
+
 :warning: code in development! Please help us test it!
 
 
@@ -123,6 +130,7 @@ void setup() {
 
   driver.voltage_power_supply = 10.0f;
   driver.voltage_limit = 10.0f;
+  driver.pwm_frequency = 5000;
   motor.torque_controller = TorqueControlType::voltage;
   motor.controller = MotionControlType::torque;
 

examples/dc-open-loop/dc-open-loop.ino

@@ -13,12 +13,12 @@
 #include <Arduino.h>
 
 #include "SimpleFOC.h"
-#include "SimpleFOCDCMotor.h"
+#include "SimpleDCMotor.h"
 
 // DCDriver object - this is the only thing needed for open-loop control.
 // There are different types to choose from, please select the correct one
 // that matches your motor driver hardware.
-DCDriverSpeedDir driver = DCDriverSpeedDir(2, 3);
+DCDriver1PWM1Dir driver = DCDriver1PWM1Dir(2, 3);
 
 /**
  * Setup function, in which you should intialize the driver.

examples/dc-torque-voltage/dc-torque-voltage.ino

@@ -16,7 +16,7 @@
 #include <Arduino.h>
 
 #include "SimpleFOC.h"
-#include "SimpleFOCDCMotor.h"
+#include "SimpleDCMotor.h"
 
 
 // DCMotor object
@@ -46,6 +46,8 @@ void setup() {
   // if you want, you can limit the voltage used by the driver.
   // This value has to be same as or lower than the power supply voltage.
   driver.voltage_limit = 10.0f;
+  // often, you will want to set a lower PWM frequency than the default
+  driver.pwm_frequency = 5000;
   // init driver
   driver.init();
   // init sensor

library.properties

@@ -1,5 +1,5 @@
 name=SimpleDCMotor
-version=1.0.0
+version=1.0.2
 author=Simplefoc <[email protected]>
 maintainer=Simplefoc <[email protected]>
 sentence=A library enabling DC motor control with SimpleFOC.

src/DCMotor.cpp

@@ -56,7 +56,7 @@ void DCMotor::init() {
     enable();
     _delay(50);
 
-    if (!_isset(sensor_direction)) {
+    if (sensor_direction==Direction::UNKNOWN) {
         sensor_direction = Direction::CW;
         SIMPLEFOC_DEBUG("MOT: Sensor Dir: CW");
     }
@@ -140,7 +140,7 @@ void DCMotor::setPhaseVoltage(float Uq, float Ud, float angle_el) {
 };
 
 
-int DCMotor::initFOC(float zero_electric_offset, Direction sensor_direction) {
+int DCMotor::initFOC() {
     // nothing to do for DC motors
     return 0; // always return failure
 }; 

src/DCMotor.h

@@ -56,7 +56,7 @@ class DCMotor : public FOCMotor {
     virtual void setPhaseVoltage(float Uq, float Ud, float angle_el) override;
 
     // not implemented for DC motors
-    virtual int initFOC(float zero_electric_offset = NOT_SET , Direction sensor_direction = Direction::CW) override; 
+    virtual int initFOC() override; 
     // not implemented for DC motors
     virtual void loopFOC() override;
 

src/drivers/DCDriver1PWM.cpp

@@ -10,6 +10,26 @@ DCDriver1PWM::DCDriver1PWM(int pinPWM, float threshold, int pinEN) {
 };
 
 
+void DCDriver1PWM::configureMicroseconds(int hz, int min_us, int zero_us, int max_us, bool active_high){
+    pwm_frequency = hz;
+    this->active_high = active_high;
+    pwm_period_us = 1000000.0f / hz;
+    threshold = (float)zero_us / pwm_period_us;
+    pwm_max = (float)max_us / pwm_period_us;
+    pwm_min = (float)min_us / pwm_period_us;
+    if (!active_high) {
+        float temp = 1.0f - pwm_min;
+        pwm_min = 1.0f - pwm_max;
+        pwm_max = temp;
+        threshold = 1.0f - threshold;
+    }
+    pwm_max = _constrain(pwm_max, 0.0f, 1.0f);
+    pwm_min = _constrain(pwm_min, 0.0f, 1.0f);
+    threshold = _constrain(threshold, 0.0f, 1.0f);
+};
+
+
+
 int DCDriver1PWM::init() {
     if (pinEN!=NOT_SET) {
         pinMode(pinEN, OUTPUT);
@@ -24,18 +44,28 @@ int DCDriver1PWM::init() {
 
 void DCDriver1PWM::setPwm(float U){
     U = _constrain(U, -voltage_limit, voltage_limit);
-    if (U>0.0f) {
-        U = ( U/voltage_power_supply ) * (1.0f-threshold);
-        U = _constrain(U,threshold,1.0f);
+    if (U>dead_zone) {
+        U = threshold + ( U/voltage_power_supply ) * (pwm_max - threshold);
         _writeDutyCycle1PWM(U, params);
-    } else if (U<0.0f) {
+        U = _constrain(U, pwm_min, pwm_max);
+    } else if (U<-dead_zone) {
         if (!scale_reverse)
-            U = ( -U/voltage_power_supply ) * (1.0f-threshold); // same scale as forward
+            U = threshold + ( U/voltage_power_supply ) * (pwm_max - threshold); // same scale as forward
         else
-            U = ( -U/voltage_power_supply ) * (threshold);      // full reverse scale
-        U = _constrain(U,threshold,1.0f);
+            U = threshold + ( U/voltage_power_supply ) * (threshold - pwm_min);      // full reverse scale
+        U = _constrain(U, pwm_min, pwm_max);
         _writeDutyCycle1PWM(U, params);
     } else {
         _writeDutyCycle1PWM(threshold, params);
     }
+};
+
+
+
+void DCDriver1PWM::setPwmMicroseconds(int us){
+    float U = (float)us / pwm_period_us;
+    if (!active_high) 
+        U = 1.0f - U;
+    U = _constrain(U, pwm_min, pwm_max);
+    _writeDutyCycle1PWM(U, params);
 };

src/drivers/DCDriver1PWM.h

@@ -17,14 +17,24 @@ class DCDriver1PWM : public DCDriver {
 
         virtual int init() override;
 
+        void configureMicroseconds(int hz, int min_us, int zero_us, int max_us, bool active_high = false);
+
         /** 
          * Set phase voltages to the harware 
          * Positive voltages are associated with the "forward" direction, negative voltages with the "reverse" direction
          * @param U voltage
         */
         virtual void setPwm(float U) override;
 
+        void setPwmMicroseconds(int us);
+
         int pinPWM;
         bool scale_reverse = true; //!< if true, the reverse scale is full reverse, if false, the reverse scale is the same as the forward scale
-        float threshold = 0.5; //!< duty cycle above which the motor is considered to be "forward"
+        float threshold = 0.5f; //!< duty cycle above which the motor is considered to be "forward"
+        float pwm_max = 1.0f;
+        float pwm_min = 0.0f;
+        bool active_high = true;
+        float dead_zone = 0.0f;
+    protected:
+        float pwm_period_us = NOT_SET;
 };