#include <HybridStepperMotor.h>

Inheritance diagram for HybridStepperMotor:

Collaboration diagram for HybridStepperMotor:

Public Member Functions
	HybridStepperMotor (int pp, float R=NOT_SET, float KV=NOT_SET, float L_q=NOT_SET, float L_d=NOT_SET)

void	linkDriver (BLDCDriver *driver)

int	init () override

void	disable () override

void	enable () override

void	setPhaseVoltage (float Uq, float Ud, float angle_el) override

float	estimateBEMF (float velocity) override

int	characteriseMotor (float voltage)

void	linkCurrentSense (CurrentSense *current_sense)

Public Member Functions inherited from FOCMotor
	FOCMotor ()

virtual int	initFOC ()

virtual void	loopFOC ()

virtual void	move (float target=NOT_SET)

void	linkSensor (Sensor *sensor)

void	linkCurrentSense (CurrentSense *current_sense)

float	shaftAngle ()

float	shaftVelocity ()

float	electricalAngle ()

int	characteriseMotor (float voltage, float correction_factor)

int	tuneCurrentController (float bandwidth)

void	useMonitoring (Print &serial)

void	monitor ()

void	updateVelocityLimit (float new_velocity_limit)

void	updateCurrentLimit (float new_current_limit)

void	updateVoltageLimit (float new_voltage_limit)

void	updateTorqueControlType (TorqueControlType new_torque_controller)

void	updateMotionControlType (MotionControlType new_motion_controller)

float	velocityOpenloop (float target_velocity)

float	angleOpenloop (float target_angle)

void	linkCustomMotionControl (float(controlMethod)(FOCMotor motor))

Public Attributes
BLDCDriver *	driver
	BLDCDriver instance.

float	Ua

float	Ub

float	Uc
	Phase voltages used for inverse Park and Clarke transform.

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

float	feed_forward_velocity = 0.0f
	current feed forward velocity

float	shaft_angle
	current motor angle

float	electrical_angle
	current electrical angle

float	shaft_velocity
	current motor velocity

float	current_sp
	target current ( q current )

float	shaft_velocity_sp
	current target velocity

float	shaft_angle_sp
	current target angle

DQVoltage_s	voltage
	current d and q voltage set to the motor

DQCurrent_s	current
	current d and q current measured

float	voltage_bemf
	estimated backemf voltage (if provided KV constant)

float	Ualpha

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

DQCurrent_s	feed_forward_current
	current d and q current measured

DQVoltage_s	feed_forward_voltage
	current d and q voltage set to the motor

float	voltage_sensor_align
	sensor and motor align voltage parameter

float	velocity_index_search
	target velocity for index search

float	phase_resistance
	motor phase resistance

int	pole_pairs
	motor pole pairs number

float	KV_rating
	motor KV rating

float	phase_inductance
	motor phase inductance q axis - FOR BACKWARDS COMPATIBILITY

DQ_s	axis_inductance {NOT_SET, NOT_SET}
	motor direct axis phase inductance

float	voltage_limit
	Voltage limiting variable - global limit.

float	current_limit
	Current limiting variable - global limit.

float	velocity_limit
	Velocity limiting variable - global limit.

int8_t	enabled = 0
	enabled or disabled motor flag

FOCMotorStatus	motor_status = FOCMotorStatus::motor_uninitialized
	motor status

FOCModulationType	foc_modulation
	parameter determining modulation algorithm

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

TorqueControlType	torque_controller
	parameter determining the torque control type

MotionControlType	controller
	parameter determining the control loop to be used

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

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

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

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

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

PIDController	P_angle {DEF_P_ANGLE_P,0,0,0,DEF_VEL_LIM}
	parameter determining the position PID configuration

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

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

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

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

float	sensor_offset
	user defined sensor zero offset

float	zero_electric_angle = NOT_SET
	absolute zero electric angle - if available

Direction	sensor_direction = Direction::UNKNOWN
	default is CW. if sensor_direction == Direction::CCW then direction will be flipped compared to CW. Set to UNKNOWN to set by calibration

bool	pp_check_result = false
	the result of the PP check, if run during loopFOC

unsigned int	monitor_downsample = DEF_MON_DOWNSMAPLE
	show monitor outputs each monitor_downsample calls

char	monitor_start_char = '\0'
	monitor starting character

char	monitor_end_char = '\0'
	monitor outputs ending character

char	monitor_separator = '\t'
	monitor outputs separation character

unsigned int	monitor_decimals = 4
	monitor outputs decimal places

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.

Sensor *	sensor
	CurrentSense link.

CurrentSense *	current_sense

Print *	monitor_port
	Serial terminal variable if provided.

uint32_t	loopfoc_time_us = 0
	filtered loop times

uint32_t	move_time_us = 0

Additional Inherited Members
Protected Member Functions inherited from FOCMotor
void	updateLoopFOCTime ()

void	updateMotionControlTime ()

int	alignSensor ()

int	alignCurrentSense ()

int	absoluteZeroSearch ()

Protected Attributes inherited from FOCMotor
uint32_t	last_loopfoc_timestamp_us = 0
	timestamp of the last loopFOC execution in microseconds

uint32_t	last_loopfoc_time_us = 0
	last elapsed time of loopFOC in microseconds

uint32_t	last_move_timestamp_us = 0
	timestamp of the last move execution in microseconds

uint32_t	last_move_time_us = 0
	last elapsed time of move in microseconds

Detailed Description

Stepper Motor class

Definition at line 20 of file HybridStepperMotor.h.

Constructor & Destructor Documentation

◆ HybridStepperMotor()

HybridStepperMotor::HybridStepperMotor	(	int	pp,
		float	R = `NOT_SET`,
		float	KV = `NOT_SET`,
		float	L_q = `NOT_SET`,
		float	L_d = `NOT_SET`
	)

HybridStepperMotor class constructor

Parameters

pp	pole pair number
R	motor phase resistance - [Ohm]
KV	motor KV rating (1/K_bemf) - rpm/V
Lq	motor q-axis inductance - [H]
Ld	motor d-axis inductance - [H]

Definition at line 10 of file HybridStepperMotor.cpp.

Member Function Documentation

◆ characteriseMotor()

int HybridStepperMotor::characteriseMotor ( float voltage )

inline

Measure resistance and inductance of a HybridStepperMotor and print results to debug. If a sensor is available, an estimate of zero electric angle will be reported too. TODO: determine the correction factor

Parameters

voltage The voltage applied to the motor

Returns: 0 for success, >0 for failure

Definition at line 81 of file HybridStepperMotor.h.

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◆ disable()

void HybridStepperMotor::disable ( )

overridevirtual

Motor disable function

Implements FOCMotor.

Definition at line 95 of file HybridStepperMotor.cpp.

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◆ enable()

void HybridStepperMotor::enable ( )

overridevirtual

Motor enable function

Implements FOCMotor.

Definition at line 108 of file HybridStepperMotor.cpp.

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◆ estimateBEMF()

float HybridStepperMotor::estimateBEMF ( float velocity )

overridevirtual

Method estimating the Back EMF voltage based based on the current velocity and KV rating

Parameters

velocity Current motor velocity

Reimplemented from FOCMotor.

Definition at line 126 of file HybridStepperMotor.cpp.

◆ init()

int HybridStepperMotor::init ( )

overridevirtual

Motor hardware init function

Implements FOCMotor.

Definition at line 47 of file HybridStepperMotor.cpp.

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◆ linkCurrentSense()

void HybridStepperMotor::linkCurrentSense ( CurrentSense * current_sense )

Link the currentsense

Definition at line 41 of file HybridStepperMotor.cpp.

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◆ linkDriver()

void HybridStepperMotor::linkDriver ( BLDCDriver * _driver )

Function linking a motor and a foc driver

Parameters

driver BLDCDriver handle for hardware peripheral control

Link the driver which controls the motor

Definition at line 33 of file HybridStepperMotor.cpp.

◆ setPhaseVoltage()

void HybridStepperMotor::setPhaseVoltage	(	float	Uq,
		float	Ud,
		float	angle_el
	)

overridevirtual

Method using FOC to set Uq to the motor at the optimal angle Heart of the FOC algorithm

Parameters

Uq	Current voltage in q axis to set to the motor
Ud	Current voltage in d axis to set to the motor
angle_el	current electrical angle of the motor

Implements FOCMotor.

Definition at line 135 of file HybridStepperMotor.cpp.

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Member Data Documentation

◆ driver

BLDCDriver* HybridStepperMotor::driver

BLDCDriver instance.

Definition at line 40 of file HybridStepperMotor.h.

◆ Ua

float HybridStepperMotor::Ua

Definition at line 42 of file HybridStepperMotor.h.

◆ Ub

float HybridStepperMotor::Ub

Definition at line 42 of file HybridStepperMotor.h.

◆ Uc

float HybridStepperMotor::Uc

Phase voltages used for inverse Park and Clarke transform.

Definition at line 42 of file HybridStepperMotor.h.

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

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ HybridStepperMotor()

Member Function Documentation

◆ characteriseMotor()

◆ disable()

◆ enable()

◆ estimateBEMF()

◆ init()

◆ linkCurrentSense()

◆ linkDriver()

◆ setPhaseVoltage()

Member Data Documentation

◆ driver

◆ Ua

◆ Ub

◆ Uc