#include <BLDCMotor.h>

Inheritance diagram for BLDCMotor:

Public Member Functions
	BLDCMotor (int pp, float R=NOT_SET)

void	linkDriver (BLDCDriver *driver)

void	init () override

void	disable () override

void	enable () override

int	initFOC (float zero_electric_offset=NOT_SET, Direction sensor_direction=Direction::CW) override

void	loopFOC () override

void	move (float target=NOT_SET) override

Public Member Functions inherited from FOCMotor
	FOCMotor ()

void	linkSensor (Sensor *sensor)

void	linkCurrentSense (CurrentSense *current_sense)

float	shaftAngle ()

float	shaftVelocity ()

float	electricalAngle ()

void	useMonitoring (Print &serial)

void	monitor ()

Public Attributes
BLDCDriver *	driver

float	Ua

float	Ub

float	Uc
	Current phase voltages Ua,Ub and Uc set to motor. More...

float	Ualpha

float	Ubeta
	Phase voltages U alpha and U beta used for inverse Park and Clarke transform. More...

Public Attributes inherited from FOCMotor
float	target
	current target value - depends of the controller More...

float	shaft_angle
	current motor angle More...

float	electrical_angle
	current electrical angle More...

float	shaft_velocity
	current motor velocity More...

float	current_sp
	target current ( q current ) More...

float	shaft_velocity_sp
	current target velocity More...

float	shaft_angle_sp
	current target angle More...

DQVoltage_s	voltage
	current d and q voltage set to the motor More...

DQCurrent_s	current
	current d and q current measured More...

float	voltage_sensor_align
	sensor and motor align voltage parameter More...

float	velocity_index_search
	target velocity for index search More...

float	phase_resistance
	motor phase resistance More...

int	pole_pairs
	motor pole pairs number More...

float	voltage_limit
	Voltage limitting variable - global limit. More...

float	current_limit
	Current limitting variable - global limit. More...

float	velocity_limit
	Velocity limitting variable - global limit. More...

int8_t	enabled = 0
	enabled or disabled motor flag More...

FOCModulationType	foc_modulation
	parameter derterniming modulation algorithm More...

int8_t	modulation_centered = 1
	flag (1) centered modulation around driver limit /2 or (0) pulled to 0 More...

TorqueControlType	torque_controller
	parameter determining the torque control type More...

MotionControlType	controller
	parameter determining the control loop to be used More...

PIDController	PID_current_q {DEF_PID_CURR_P,DEF_PID_CURR_I,DEF_PID_CURR_D,DEF_PID_CURR_RAMP, DEF_POWER_SUPPLY}
	parameter determining the q current PID config More...

PIDController	PID_current_d {DEF_PID_CURR_P,DEF_PID_CURR_I,DEF_PID_CURR_D,DEF_PID_CURR_RAMP, DEF_POWER_SUPPLY}
	parameter determining the d current PID config More...

LowPassFilter	LPF_current_q {DEF_CURR_FILTER_Tf}
	parameter determining the current Low pass filter configuration More...

LowPassFilter	LPF_current_d {DEF_CURR_FILTER_Tf}
	parameter determining the current Low pass filter configuration More...

PIDController	PID_velocity {DEF_PID_VEL_P,DEF_PID_VEL_I,DEF_PID_VEL_D,DEF_PID_VEL_RAMP,DEF_PID_VEL_LIMIT}
	parameter determining the velocity PID configuration More...

PIDController	P_angle {DEF_P_ANGLE_P,0,0,1e10,DEF_VEL_LIM}
	parameter determining the position PID configuration More...

LowPassFilter	LPF_velocity {DEF_VEL_FILTER_Tf}
	parameter determining the velocity Low pass filter configuration More...

LowPassFilter	LPF_angle {0.0}
	parameter determining the angle low pass filter configuration More...

unsigned int	motion_downsample = DEF_MOTION_DOWNSMAPLE
	parameter defining the ratio of downsampling for move commad More...

unsigned int	motion_cnt = 0
	counting variable for downsampling for move commad More...

float	sensor_offset
	user defined sensor zero offset More...

float	zero_electric_angle = NOT_SET
	absolute zero electric angle - if available More...

int	sensor_direction = NOT_SET
	if sensor_direction == Direction::CCW then direction will be flipped to CW More...

unsigned int	monitor_downsample = DEF_MON_DOWNSMAPLE
	show monitor outputs each monitor_downsample calls More...

uint8_t	monitor_variables = _MON_TARGET \| _MON_VOLT_Q \| _MON_VEL \| _MON_ANGLE
	Bit array holding the map of variables the user wants to monitor. More...

Sensor *	sensor

CurrentSense *	current_sense

Print *	monitor_port
	Serial terminal variable if provided. More...

Detailed Description

BLDC motor class

Definition at line 15 of file BLDCMotor.h.

Constructor & Destructor Documentation

◆ BLDCMotor()

BLDCMotor::BLDCMotor	(	int	pp,
		float	R = `NOT_SET`
	)

BLDCMotor class constructor

Parameters

pp	pole pairs number
R	motor phase resistance

Definition at line 6 of file BLDCMotor.cpp.

Member Function Documentation

◆ disable()

void BLDCMotor::disable ( )

overridevirtual

Motor disable function

Implements FOCMotor.

Definition at line 61 of file BLDCMotor.cpp.

◆ enable()

void BLDCMotor::enable ( )

overridevirtual

Motor enable function

Implements FOCMotor.

Definition at line 71 of file BLDCMotor.cpp.

◆ init()

void BLDCMotor::init ( )

overridevirtual

Motor hardware init function

Implements FOCMotor.

Definition at line 26 of file BLDCMotor.cpp.

◆ initFOC()

int BLDCMotor::initFOC	(	float	zero_electric_offset = `NOT_SET`,
		Direction	_sensor_direction = `Direction::CW`
	)

overridevirtual

Function initializing FOC algorithm and aligning sensor's and motors' zero position

FOC functions

Implements FOCMotor.

Definition at line 85 of file BLDCMotor.cpp.

◆ linkDriver()

void BLDCMotor::linkDriver ( BLDCDriver * _driver )

Function linking a motor and a foc driver

Parameters

driver BLDCDriver class implementing all the hardware specific functions necessary PWM setting

Link the driver which controls the motor

Definition at line 21 of file BLDCMotor.cpp.

◆ loopFOC()

void BLDCMotor::loopFOC ( )

overridevirtual

Function running FOC algorithm in real-time it calculates the gets motor angle and sets the appropriate voltages to the phase pwm signals

the faster you can run it the better Arduino UNO ~1ms, Bluepill ~ 100us

Implements FOCMotor.

Definition at line 244 of file BLDCMotor.cpp.

◆ move()

void BLDCMotor::move ( float target = NOT_SET )

overridevirtual

Function executing the control loops set by the controller parameter of the BLDCMotor.

Parameters

target Either voltage, angle or velocity based on the motor.controller If it is not set the motor will use the target set in its variable motor.target

This function doesn't need to be run upon each loop execution - depends of the use case

Implements FOCMotor.

Definition at line 295 of file BLDCMotor.cpp.

Member Data Documentation

◆ driver

BLDCDriver* BLDCMotor::driver

BLDCDriver link:

3PWM
6PWM

Definition at line 37 of file BLDCMotor.h.

◆ Ua

float BLDCMotor::Ua

Definition at line 69 of file BLDCMotor.h.

◆ Ualpha

float BLDCMotor::Ualpha

Definition at line 70 of file BLDCMotor.h.

◆ Ub

float BLDCMotor::Ub

Definition at line 69 of file BLDCMotor.h.

◆ Ubeta

float BLDCMotor::Ubeta

Phase voltages U alpha and U beta used for inverse Park and Clarke transform.

Definition at line 70 of file BLDCMotor.h.

◆ Uc

float BLDCMotor::Uc

Current phase voltages Ua,Ub and Uc set to motor.

Definition at line 69 of file BLDCMotor.h.

The documentation for this class was generated from the following files:

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ BLDCMotor()

Member Function Documentation

◆ disable()

◆ enable()

◆ init()

◆ initFOC()

◆ linkDriver()

◆ loopFOC()

◆ move()

Member Data Documentation

◆ driver

◆ Ua

◆ Ualpha

◆ Ub

◆ Ubeta

◆ Uc