v1.2版本改为通过xbox系列手柄进行遥控,并增加智能模式和手动模式

v1.2/Shibo-main-TOMMY/lib/Simple_FOC/src/BLDCMotor.h

@@ -0,0 +1,112 @@
+#ifndef BLDCMotor_h
+#define BLDCMotor_h
+
+#include "Arduino.h"
+#include "common/base_classes/FOCMotor.h"
+#include "common/base_classes/Sensor.h"
+#include "common/base_classes/BLDCDriver.h"
+#include "common/foc_utils.h"
+#include "common/time_utils.h"
+#include "common/defaults.h"
+
+/**
+ BLDC motor class
+*/
+class BLDCMotor: public FOCMotor
+{
+  public:
+    /**
+     BLDCMotor class constructor
+     @param pp pole pairs number
+     @param R  motor phase resistance
+     */ 
+    BLDCMotor(int pp,  float R = NOT_SET);
+    
+    /**
+     * Function linking a motor and a foc driver 
+     * 
+     * @param driver BLDCDriver class implementing all the hardware specific functions necessary PWM setting
+     */
+    void linkDriver(BLDCDriver* driver);
+
+    /** 
+      * BLDCDriver link:
+      * - 3PWM 
+      * - 6PWM 
+    */
+    BLDCDriver* driver; 
+    
+    /**  Motor hardware init function */
+  	void init() override;
+    /** Motor disable function */
+  	void disable() override;
+    /** Motor enable function */
+    void enable() override;
+
+    /**
+     * Function initializing FOC algorithm
+     * and aligning sensor's and motors' zero position 
+     */  
+    int initFOC( float zero_electric_offset = NOT_SET , Direction sensor_direction = Direction::CW) override;
+    /**
+     * 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
+     */ 
+    void loopFOC() override;
+
+    /**
+     * Function executing the control loops set by the controller parameter of the BLDCMotor.
+     * 
+     * @param 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
+     */
+    void move(float target = NOT_SET) override;
+    
+    float Ua, Ub, Uc;//!< Current phase voltages Ua,Ub and Uc set to motor
+    float	Ualpha, Ubeta; //!< Phase voltages U alpha and U beta used for inverse Park and Clarke transform
+
+
+  private:
+    // FOC methods 
+    /**
+    * Method using FOC to set Uq to the motor at the optimal angle
+    * Heart of the FOC algorithm
+    * 
+    * @param Uq Current voltage in q axis to set to the motor
+    * @param Ud Current voltage in d axis to set to the motor
+    * @param angle_el current electrical angle of the motor
+    */
+    void setPhaseVoltage(float Uq, float Ud, float angle_el);
+    /** Sensor alignment to electrical 0 angle of the motor */
+    int alignSensor();
+    /** Current sense and motor phase alignment */
+    int alignCurrentSense();
+    /** Motor and sensor alignment to the sensors absolute 0 angle  */
+    int absoluteZeroSearch();
+
+        
+    // Open loop motion control    
+    /**
+     * Function (iterative) generating open loop movement for target velocity
+     * it uses voltage_limit variable
+     * 
+     * @param target_velocity - rad/s
+     */
+    float velocityOpenloop(float target_velocity);
+    /**
+     * Function (iterative) generating open loop movement towards the target angle
+     * it uses voltage_limit and velocity_limit variables
+     * 
+     * @param target_angle - rad
+     */
+    float angleOpenloop(float target_angle);
+    // open loop variables
+    long open_loop_timestamp;
+};
+
+
+#endif