119 lines
3.6 KiB
C++
119 lines
3.6 KiB
C++
/**
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* @file StepperMotor.h
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*
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*/
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#ifndef StepperMotor_h
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#define StepperMotor_h
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#include "Arduino.h"
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#include "common/base_classes/FOCMotor.h"
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#include "common/base_classes/StepperDriver.h"
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#include "common/base_classes/Sensor.h"
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#include "common/foc_utils.h"
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#include "common/time_utils.h"
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#include "common/defaults.h"
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/**
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Stepper Motor class
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*/
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class StepperMotor: public FOCMotor
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{
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public:
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/**
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StepperMotor class constructor
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@param pp pole pair number
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@param R motor phase resistance
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*/
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StepperMotor(int pp, float R = NOT_SET);
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/**
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* Function linking a motor and a foc driver
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*
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* @param driver StepperDriver class implementing all the hardware specific functions necessary PWM setting
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*/
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void linkDriver(StepperDriver* driver);
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/**
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* StepperDriver link:
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* - 4PWM - L298N for example
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*/
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StepperDriver* driver;
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/** Motor hardware init function */
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void init() override;
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/** Motor disable function */
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void disable() override;
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/** Motor enable function */
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void enable() override;
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/**
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* Function initializing FOC algorithm
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* and aligning sensor's and motors' zero position
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*
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* - If zero_electric_offset parameter is set the alignment procedure is skipped
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*
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* @param zero_electric_offset value of the sensors absolute position electrical offset in respect to motor's electrical 0 position.
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* @param sensor_direction sensor natural direction - default is CW
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*
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*/
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int initFOC( float zero_electric_offset = NOT_SET , Direction sensor_direction = Direction::CW) override;
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/**
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* Function running FOC algorithm in real-time
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* it calculates the gets motor angle and sets the appropriate voltages
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* to the phase pwm signals
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* - the faster you can run it the better Arduino UNO ~1ms, Bluepill ~ 100us
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*/
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void loopFOC() override;
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/**
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* Function executing the control loops set by the controller parameter of the StepperMotor.
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*
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* @param target Either voltage, angle or velocity based on the motor.controller
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* If it is not set the motor will use the target set in its variable motor.target
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*
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* This function doesn't need to be run upon each loop execution - depends of the use case
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*/
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void move(float target = NOT_SET) override;
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float Ualpha,Ubeta; //!< Phase voltages U alpha and U beta used for inverse Park and Clarke transform
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private:
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// FOC methods
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/**
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* Method using FOC to set Uq to the motor at the optimal angle
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* Heart of the FOC algorithm
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*
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* @param Uq Current voltage in q axis to set to the motor
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* @param Ud Current voltage in d axis to set to the motor
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* @param angle_el current electrical angle of the motor
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*/
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void setPhaseVoltage(float Uq, float Ud , float angle_el);
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/** Sensor alignment to electrical 0 angle of the motor */
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int alignSensor();
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/** Motor and sensor alignment to the sensors absolute 0 angle */
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int absoluteZeroSearch();
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// Open loop motion control
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/**
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* Function (iterative) generating open loop movement for target velocity
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* it uses voltage_limit variable
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*
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* @param target_velocity - rad/s
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*/
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float velocityOpenloop(float target_velocity);
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/**
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* Function (iterative) generating open loop movement towards the target angle
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* it uses voltage_limit and velocity_limit variables
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*
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* @param target_angle - rad
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*/
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float angleOpenloop(float target_angle);
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// open loop variables
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long open_loop_timestamp;
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};
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#endif
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