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Supporting additional sensors v2.1

In order to be able to use a new type of sensor with the FOC algorithm implemented with Arduino SimpleFOClibrary, it needs to be wrapped in a class which extends the Sensor class. And it needs to implement just few generic functions.

class Sensor{
public:
    // get current angle (rad) 
    virtual float getAngle() = 0;
    // get current angular velocity (rad/s)
    // already implemented 
    virtual float getVelocity();
    // returns 0 if it does need search for absolute zero
    // 1 - encoder with index (with index not found yet)
    // 0 - every other sensor 
    // by default returns 0
    virtual int needsSearch();
}

Step 1. Header file MySensor.h

Lets make a mockup example of the new sensor implementation. We start with the MySensor.h file:

#include <SimpleFOC.h>

class MySensor: public Sensor{
 public:
    MySensor(...);

    // initialize the sensor hardware
    void init();

    // Abstract functions of the Sensor class implementation
    // get current angle (rad) 
    float getAngle();
};

Step 2. Class implementation file MySensor.cpp

Now let’s implement the MySensor.cpp file:

#include "MySensor.h"

MySensor::MySensor(...){
    // define all the necessary sensor variables
    // or leave empty if not necessary
}
MySensor::init(){
    // setup all the needed sensor hardware 
    // for example
    sensor.hardwareInit();
}

// Abstract functions of the Sensor class implementation
// get current angle (rad) 
MySensor::getAngle(){
    // get the position value directly from the sensor
    // for example
    return sensor.read() ;
}

Step 3. Arduino program

Finally we will be able to use it in Arduino code:

#include <SimpleFOC.h>
#include "MySensor.h"

// instantiate the MySensor
MySensor my_sensor = MySensor(...);

// instantiate the motor
BLDCMotor motor = BLDCMotor(...)

// driver
BLDCDriver3PWM driver = BLDCDriver3PWM(...)

void setup(){
    // init MySensor position tracking
    my_sensor.init();

    // link MySensor with the motor
    motor.linkSensor(&my_sensor);

    // driver config
    driver.init();
    motor.linkDriver(&driver);

    // get ready for FOC
    motor.init();
    motor.initFOC();
}
void loop(){
    // do FOC
    motor.loopFOC();
    motor.move(target);
}