#include "Arduino.h"
#include "Sensor.h"
#include "CurrentSense.h"
#include "../time_utils.h"
#include "../foc_utils.h"
#include "../defaults.h"
#include "../pid.h"
#include "../lowpass_filter.h"

Classes
class	FOCMotor

Macros
#define	_MON_TARGET 0b1000000

#define	_MON_VOLT_Q 0b0100000

#define	_MON_VOLT_D 0b0010000

#define	_MON_CURR_Q 0b0001000

#define	_MON_CURR_D 0b0000100

#define	_MON_VEL 0b0000010

#define	_MON_ANGLE 0b0000001

Enumerations
enum	MotionControlType { torque, velocity, angle, velocity_openloop, angle_openloop }

enum	TorqueControlType { voltage, dc_current, foc_current }

enum	FOCModulationType { SinePWM, SpaceVectorPWM, Trapezoid_120, Trapezoid_150 }

Macro Definition Documentation

◆ _MON_ANGLE

#define _MON_ANGLE 0b0000001

Definition at line 23 of file FOCMotor.h.

◆ _MON_CURR_D

#define _MON_CURR_D 0b0000100

Definition at line 21 of file FOCMotor.h.

◆ _MON_CURR_Q

#define _MON_CURR_Q 0b0001000

Definition at line 20 of file FOCMotor.h.

◆ _MON_TARGET

#define _MON_TARGET 0b1000000

Definition at line 17 of file FOCMotor.h.

◆ _MON_VEL

#define _MON_VEL 0b0000010

Definition at line 22 of file FOCMotor.h.

◆ _MON_VOLT_D

#define _MON_VOLT_D 0b0010000

Definition at line 19 of file FOCMotor.h.

◆ _MON_VOLT_Q

#define _MON_VOLT_Q 0b0100000

Definition at line 18 of file FOCMotor.h.

Enumeration Type Documentation

◆ FOCModulationType

enum FOCModulationType

FOC modulation type

Enumerator
SinePWM	Sinusoidal PWM modulation.
SpaceVectorPWM	Space vector modulation method.
Trapezoid_120
Trapezoid_150

Definition at line 47 of file FOCMotor.h.

◆ MotionControlType

enum MotionControlType

Motiron control type

Enumerator
torque	Torque control.
velocity	Velocity motion control.
angle	Position/angle motion control.
velocity_openloop
angle_openloop

Definition at line 27 of file FOCMotor.h.

◆ TorqueControlType

enum TorqueControlType