完善V1.4踢乒乓球版本

v1.4 摄像头提乒乓球方案/platformio/lib/Simple_FOC/src/StepperMotor.h

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+/**
+ *  @file StepperMotor.h
+ * 
+ */
+
+#ifndef StepperMotor_h
+#define StepperMotor_h
+
+#include "Arduino.h"
+#include "common/base_classes/FOCMotor.h"
+#include "common/base_classes/StepperDriver.h"
+#include "common/base_classes/Sensor.h"
+#include "common/foc_utils.h"
+#include "common/time_utils.h"
+#include "common/defaults.h"
+
+/**
+ Stepper Motor class
+*/
+class StepperMotor: public FOCMotor
+{
+  public:
+    /**
+      StepperMotor class constructor
+      @param pp  pole pair number 
+      @param R  motor phase resistance
+    */
+    StepperMotor(int pp,  float R = NOT_SET);
+
+    /**
+     * Function linking a motor and a foc driver 
+     * 
+     * @param driver StepperDriver class implementing all the hardware specific functions necessary PWM setting
+     */
+    void linkDriver(StepperDriver* driver);
+
+    /** 
+      * StepperDriver link:
+      * - 4PWM  - L298N for example
+    */
+    StepperDriver* 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 
+     * 
+     * - If zero_electric_offset parameter is set the alignment procedure is skipped
+     * 
+     * @param zero_electric_offset value of the sensors absolute position electrical offset in respect to motor's electrical 0 position.
+     * @param sensor_direction  sensor natural direction - default is CW
+     *
+     */  
+    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 StepperMotor.
+     * 
+     * @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	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();
+    /** 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