SimpleFOClibrary has many options, and the following tables summarize the important ones, collected in one convenient place for your immediate reference.
Driver Options
Driver options are set before calling driver.init(), and normally never changed after intialization.
Option
Default value
Supported on
Description
driver.pwm_frequency
depends on MCU
BLDC, Stepper
PWM frequency, in Hz
driver.voltage_power_supply
12V
BLDC, Stepper
Power supply voltage in volts
driver.voltage_limit
NOT SET
BLDC, Stepper
Hard limit on output voltage, in volts. Effectively limits PWM duty cycle proportionally to power supply voltage.
driver.intialized
BLDC, Stepper
Read-only. true if initialized successfully, false otherwise
driver.enable_active_high
true
BLDC
If true, driver is enabled by writing ‘1’ to enable pin. If false, driver is enabled by writing ‘0’ to enable pin.
driver.dead_zone
0.02
BLDCDriver6PWM
Amount of dead-time for each pwm cycle, as a proportion of 100% duty cycle. A float in the range [0,1]. Values under 10% make sense.
Motor Options
Option
Default value
Description
motor.controller
MotionControlType::torque
Motion control mode
motor.torque_controller
TorqueControlType::voltage
Torque control mode
motor.motion_downsample
0
Set to values > 1 to reduce how often move() is executed compared to loopFOC(). On fast MCUs it makes sense to reduce how often move() gets called.
motor.phase_resistance
NOT SET
Motor phase resistance. If set, used to calculate current limits based on voltage limits. Value in Ohms.
motor.KV_rating
NOT SET
motor KV rating, RMS value. Can also be set via motor constructor, where you can specify KV in RPM/V.
motor.phase_inductance
NOT SET
motor inductance, in H. Units Henry. Can also be set via motor constructor.
motor.voltage_limit
12V
Global voltage limit. Limits Q-axis voltage.
motor.current_limit
2A
Global current limit. Limits Q-axis current.
motor.velocity_limit
20rad/s
Global velocity limit. Value in rad/s.
motor.foc_modulation
FOCModulationType::SinePWM
FOC modulation mode.
motor.modulation_centered
1 (true)
1/True: centered modulation around driver.voltage_limit÷2 or 0/False: pulled to 0
motor.sensor_offset
0
Offset of motor zero to sensor zero. Can be used to make position 0 take on a specific motor orientation. For user convenience. Value in rad.
motor.voltage_sensor_align
motor.voltage_limit
Limits voltage (and therefore current) during motor alignment. Value in Volts.
motor.velocity_index_search
NOT SET
Limits motor velocity during motor initialization. Give value in rad/s.
motor.zero_electric_angle
NOT SET
Needed for FOC control. Normally set during motor FOC initialization. Can be stored and supplied as a parameter to motor.initFOC().
motor.sensor_direction
NOT SET
Normally set during motor FOC initialization. Determines sensor direction vs positive motor direction (can be opposite, depending how you connect your motor cables). Can be stored and supplied as a parameter to motor.initFOC().
motor.motor_status
FOCMotorStatus::motor_uninitialized
Read-only. Tracks the motor initialization status. You can check it to see if initialization succeeded, calibration is complete, etc.
PID Tuning Options
Option
Modes used
Description
motor.PID_velocity.P
All closed loop modes
Velocity PID controller P value. Varies by situation. Typical values are 0.2 to 0.6, but could be quite different.
motor.PID_velocity.I
All closed loop modes
Velocity PID controller I value. Varies by situation. Typical values are 2.0 to 20.0, but could be quite different.
motor.PID_velocity.D
All closed loop modes
Velocity PID controller D value. Normally set to 0. Typical values are 0, or a very low value like 0.001.
motor.PID_velocity.ramp
All closed loop modes
Velocity PID controller maximum change. Typical value 1000.0, set lower to limit accelleration.
motor.PID_velocity.limit
All closed loop modes
Velocity PID controller output limit. Set to limit velocity to this maximum.
motor.P_angle.P
Closed loop position control
Angle P controller P value. Varies by situation. Typical values are 10.0 to 20.0, but could be quite different.
motor.LPF_velocity.Tf
All closed loop modes
Velocity low pass filter time constant. Values larger than 0, max 1.0. The lower the value, the slower the effect of velocity changes from the sensor.
motor.LPF_angle.Tf
All closed loop modes
Angle low pass filter time constant. Values larger than 0, max 1.0. The lower the value, the slower the effect of angle changes from the sensor.
