FOCMotor.h File Reference

#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"

Include dependency graph for FOCMotor.h:

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Go to the source code of this file.

Classes
class	FOCMotor

Macros
#define	MOT_ERR   "ERR-MOT:"
#define	MOT_WARN   "WARN-MOT:"
#define	MOT_DEBUG   "MOT:"
#define	SIMPLEFOC_MOTOR_WARN(msg, ...)
#define	SIMPLEFOC_MOTOR_ERROR(msg, ...)
#define	SIMPLEFOC_MOTOR_DEBUG(msg, ...)
#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 : uint8_t {   torque = 0x00 , velocity = 0x01 , angle = 0x02 , velocity_openloop = 0x03 ,   angle_openloop = 0x04 , angle_nocascade = 0x05 , custom = 0x06 }
enum	TorqueControlType : uint8_t { voltage = 0x00 , dc_current = 0x01 , foc_current = 0x02 , estimated_current = 0x03 }
enum	FOCModulationType : uint8_t { SinePWM = 0x00 , SpaceVectorPWM = 0x01 , Trapezoid_120 = 0x02 , Trapezoid_150 = 0x03 }
enum	FOCMotorStatus : uint8_t {   motor_uninitialized = 0x00 , motor_initializing = 0x01 , motor_uncalibrated = 0x02 , motor_calibrating = 0x03 ,   motor_ready = 0x04 , motor_error = 0x08 , motor_calib_failed = 0x0E , motor_init_failed = 0x0F }

Macro Definition Documentation

_MON_ANGLE

#define _MON_ANGLE   0b0000001

Definition at line 44 of file FOCMotor.h.

_MON_CURR_D

#define _MON_CURR_D   0b0000100

Definition at line 42 of file FOCMotor.h.

_MON_CURR_Q

#define _MON_CURR_Q   0b0001000

Definition at line 41 of file FOCMotor.h.

_MON_TARGET

#define _MON_TARGET   0b1000000

Definition at line 38 of file FOCMotor.h.

_MON_VEL

#define _MON_VEL   0b0000010

Definition at line 43 of file FOCMotor.h.

_MON_VOLT_D

#define _MON_VOLT_D   0b0010000

Definition at line 40 of file FOCMotor.h.

_MON_VOLT_Q

#define _MON_VOLT_Q   0b0100000

Definition at line 39 of file FOCMotor.h.

MOT_DEBUG

#define MOT_DEBUG   "MOT:"

Definition at line 16 of file FOCMotor.h.

MOT_ERR

#define MOT_ERR   "ERR-MOT:"

Definition at line 14 of file FOCMotor.h.

MOT_WARN

#define MOT_WARN   "WARN-MOT:"

Definition at line 15 of file FOCMotor.h.

SIMPLEFOC_MOTOR_DEBUG

#define SIMPLEFOC_MOTOR_DEBUG	(		msg,
			...
	)

Value:

      SimpleFOCDebug::print(MOT_DEBUG); \
      SIMPLEFOC_DEBUG(msg, ##__VA_ARGS__)

Definition at line 27 of file FOCMotor.h.

SIMPLEFOC_MOTOR_ERROR

#define SIMPLEFOC_MOTOR_ERROR	(		msg,
			...
	)

Value:

      SimpleFOCDebug::print(MOT_ERR); \
      SIMPLEFOC_DEBUG(msg, ##__VA_ARGS__)

Definition at line 23 of file FOCMotor.h.

SIMPLEFOC_MOTOR_WARN

#define SIMPLEFOC_MOTOR_WARN	(		msg,
			...
	)

Value:

      SimpleFOCDebug::print(MOT_WARN); \
      SIMPLEFOC_DEBUG(msg, ##__VA_ARGS__)

Definition at line 19 of file FOCMotor.h.

Enumeration Type Documentation

FOCModulationType

enum FOCModulationType : uint8_t

FOC modulation type

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

Definition at line 72 of file FOCMotor.h.

FOCMotorStatus

enum FOCMotorStatus : uint8_t

Enumerator
motor_uninitialized	Motor is not yet initialized.
motor_initializing	Motor intiialization is in progress.
motor_uncalibrated	Motor is initialized, but not calibrated (open loop possible)
motor_calibrating	Motor calibration in progress.
motor_ready	Motor is initialized and calibrated (closed loop possible)
motor_error	Motor is in error state (recoverable, e.g. overcurrent protection active)
motor_calib_failed	Motor calibration failed (possibly recoverable)
motor_init_failed	Motor initialization failed (not recoverable)

Definition at line 81 of file FOCMotor.h.

MotionControlType

enum MotionControlType : uint8_t

Motion control type

Enumerator
torque	Torque control.
velocity	Velocity motion control.
angle	Position/angle motion control.
velocity_openloop
angle_openloop
angle_nocascade	Position/angle motion control without velocity cascade.
custom	Custom control method - control method added by user.

Definition at line 49 of file FOCMotor.h.

TorqueControlType

enum TorqueControlType : uint8_t

Motiron control type

Enumerator
voltage	Torque control using voltage.
dc_current	Torque control using DC current (one current magnitude)
foc_current	torque control using dq currents
estimated_current	torque control using estimated current (provided motor parameters)

Definition at line 62 of file FOCMotor.h.