#include <StepperMotor.h>

Inheritance diagram for StepperMotor:

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

void	linkDriver (StepperDriver *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
StepperDriver *	driver

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

Stepper Motor class

Definition at line 20 of file StepperMotor.h.

Constructor & Destructor Documentation

◆ StepperMotor()

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

StepperMotor class constructor

Parameters

pp	pole pair number
R	motor phase resistance

Definition at line 6 of file StepperMotor.cpp.

Member Function Documentation

◆ disable()

void StepperMotor::disable ( )

overridevirtual

Motor disable function

Implements FOCMotor.

Definition at line 60 of file StepperMotor.cpp.

◆ enable()

void StepperMotor::enable ( )

overridevirtual

Motor enable function

Implements FOCMotor.

Definition at line 70 of file StepperMotor.cpp.

◆ init()

void StepperMotor::init ( )

overridevirtual

Motor hardware init function

Implements FOCMotor.

Definition at line 27 of file StepperMotor.cpp.

◆ initFOC()

int StepperMotor::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

If zero_electric_offset parameter is set the alignment procedure is skipped

Parameters

zero_electric_offset	value of the sensors absolute position electrical offset in respect to motor's electrical 0 position.
sensor_direction	sensor natural direction - default is CW

FOC functions

Implements FOCMotor.

Definition at line 85 of file StepperMotor.cpp.

◆ linkDriver()

void StepperMotor::linkDriver ( StepperDriver * _driver )

Function linking a motor and a foc driver

Parameters

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

Link the driver which controls the motor

Definition at line 22 of file StepperMotor.cpp.

◆ loopFOC()

void StepperMotor::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 215 of file StepperMotor.cpp.

◆ move()

void StepperMotor::move ( float target = NOT_SET )

overridevirtual

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

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 234 of file StepperMotor.cpp.

Member Data Documentation

◆ driver

StepperDriver* StepperMotor::driver

StepperDriver link:

4PWM - L298N for example

Definition at line 41 of file StepperMotor.h.

◆ Ualpha

float StepperMotor::Ualpha

Definition at line 78 of file StepperMotor.h.

◆ Ubeta

float StepperMotor::Ubeta

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

Definition at line 78 of file StepperMotor.h.

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

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ StepperMotor()

Member Function Documentation

◆ disable()

◆ enable()

◆ init()

◆ initFOC()

◆ linkDriver()

◆ loopFOC()

◆ move()

Member Data Documentation

◆ driver

◆ Ualpha

◆ Ubeta