Arduino SimpleFOClibrary 源代码 v2.1

class BLDCDriver{
    public:
        
        /** Initialise hardware */
        virtual int init();
        /** Enable hardware */
        virtual void enable();
        /** Disable hardware */
        virtual void disable();

        long pwm_frequency; //!< pwm frequency value in hertz
        float voltage_power_supply; //!< power supply voltage 
        float voltage_limit; //!< limiting voltage set to the motor
            
        //Set phase voltages to the hardware 
        //
        // @param Ua - phase A voltage
        // @param Ub - phase B voltage
        // @param Uc - phase C voltage
        virtual void setPwm(float Ua, float Ub, float Uc);
        

        // Set phase state, enable/disable  
        //
        // @param sc - phase A state : active / disabled ( high impedance )
        // @param sb - phase B state : active / disabled ( high impedance )
        // @param sa - phase C state : active / disabled ( high impedance )
        virtual void setPhaseState(int sa, int sb, int sc) = 0;
};

class StepperDriver{
    public:
        
        /** Initialise hardware */
        virtual int init();
        /** Enable hardware */
        virtual void enable();
        /** Disable hardware */
        virtual void disable();

        long pwm_frequency; //!< pwm frequency value in hertz
        float voltage_power_supply; //!< power supply voltage 
        float voltage_limit; //!< limiting voltage set to the motor
            
        /** 
         * Set phase voltages to the hardware 
         * 
         * @param Ua phase A voltage
         * @param Ub phase B voltage
        */
        virtual void setPwm(float Ua, float Ub);
};

class Sensor{
public:
    // get current angle (rad) 
    virtual float getAngle() = 0;
    // get current angular velocity (rad/s)
    // initially implemented - can be overridden
    virtual float getVelocity();

    // returns 0 if it does need search for absolute zero
    // 1 - encoder with index (with index not found yet)
    // 0 - everything else (& encoder with index which is found)
    // initially implemented by default returns 0
    virtual int needsSearch();
}

class CurrentSense{
    public:

    // Function intialising the CurrentSense class
    // All the necessary intialisations of adc and sync should be implemented here
    virtual void init() = 0;
    
    // Function reading the phase currents a, b and c
    //   This function will be used with the foc control through the function 
    //   CurrentSense::getFOCCurrents(electrical_angle)
    //   - it returns current c equal to 0 if only two phase measurements available
    //
    //  @return PhaseCurrent_s current values
    virtual PhaseCurrent_s getPhaseCurrents() = 0;
    // Function reading the magnitude of the current set to the motor
    //  It returns the abosolute or signed magnitude if possible
    //  It can receive the motor electrical angle to help with calculation
    //  This function is used with the current control  (not foc)
    //  
    // @param angle_el - electrical angle of the motor (optional) 
    virtual float getDCCurrent(float angle_el = 0);

    // Function used for FOC contorl, it reads the DQ currents of the motor 
    //   It uses the function getPhaseCurrents internally
    // 
    // @param angle_el - motor electrical angle
    DQCurrent_s getFOCCurrents(float angle_el);

    // driver sync and align functions

    //Function intended to implement all that is needed to sync and current sensing with the driver.
    // If no such thing is needed it can be left empty (return 1)
    // @returns -  0 - for failure &  1 - for success 
    virtual int driverSync(BLDCDriver *driver) = 0;
    //Function intended to verify if:
    //   - phase current are oriented properly 
    //   - if their order is the same as driver phases
    // 
    // This function corrects the alignment errors if possible ans if no such thing is needed it can be left empty (return 1)
    // @returns -  0 - for failure &  positive number (with status) - for success 
    virtual int driverAlign(BLDCDriver *driver, float voltage) = 0;
    
    bool skip_align = false; //!< variable signaling that the phase current direction should be verified during initFOC()
};

// default configuration values
// change this file to optimal values for your application

#define DEF_POWER_SUPPLY 12.0 //!< default power supply voltage
// velocity PI controller params
#define DEF_PID_VEL_P 0.5 //!< default PID controller P value
#define DEF_PID_VEL_I 10 //!<  default PID controller I value
#define DEF_PID_VEL_D 0 //!<  default PID controller D value
#define DEF_PID_VEL_U_RAMP 1000 //!< default PID controller voltage ramp value
// angle P params
#define DEF_P_ANGLE_P 20 //!< default P controller P value
#define DEF_VEL_LIM 20 //!< angle velocity limit default
// index search 
#define DEF_INDEX_SEARCH_TARGET_VELOCITY 1 //!< default index search velocity
// align voltage
#define DEF_VOLTAGE_SENSOR_ALIGN 6.0 //!< default voltage for sensor and motor zero alignemt
// low pass filter velocity
#define DEF_VEL_FILTER_Tf 0.005 //!< default velocity filter time constant