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Merged
merged 31 commits into from
Jun 3, 2023
Merged

Feature/bldc haptics #60

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3522aef
feat(bldc_haptics): initial bldc_haptics component
finger563 May 25, 2023
04aa8ab
feat(bldc_haptics): remove empty src
finger563 May 25, 2023
e6ee866
feat(pid): udpate API
finger563 May 26, 2023
1c18925
chore(math): add maybe_unused to suppress compiler warning
finger563 May 26, 2023
ae25fb9
doc: update
finger563 May 26, 2023
f66034f
ci: update
finger563 May 26, 2023
f47e192
removed unneeded file
finger563 May 26, 2023
208ddcf
feat(bldc_driver): add fault
finger563 May 27, 2023
a76c066
feat(bldc_motor): update example
finger563 May 27, 2023
cdd3bd9
example(bldc_motor): update to use logger
finger563 May 27, 2023
550a203
example(bldc_haptics): update
finger563 May 27, 2023
dde3d42
feat(bldc_haptics): allow pid config
finger563 May 29, 2023
abfe080
feat(bldc_motor): refactor types
finger563 May 31, 2023
59e8acf
feat(bldc_haptics): updated interface
finger563 May 31, 2023
4ec09be
doc(rtsp): update
finger563 May 31, 2023
a56542a
doc(ftp): update
finger563 May 31, 2023
65f3ff7
feat(bldc_haptics): updated haptics
finger563 Jun 1, 2023
d5f41ca
doc
finger563 Jun 1, 2023
671d80f
doc: update
finger563 Jun 1, 2023
682ca04
doc: rebuild
finger563 Jun 1, 2023
e162a78
feat(haptics): update api
finger563 Jun 2, 2023
b52a513
example(haptics): update
finger563 Jun 2, 2023
114392e
update to use new logger
finger563 Jun 2, 2023
1e1d2c3
merge main
finger563 Jun 2, 2023
a874795
feat(bldc_motor): accept 0 targets in the move() command
finger563 Jun 2, 2023
58c45bb
feat(bldc_haptics): better behavior
finger563 Jun 2, 2023
ffaaad5
feat(bldc_motor): minor update
finger563 Jun 3, 2023
b71ab12
feat(bldc_haptics): working haptics example
finger563 Jun 3, 2023
8fb55f1
doc: rebuild
finger563 Jun 3, 2023
886d5e3
feat(bldc_haptics): update example
finger563 Jun 3, 2023
e3beb88
doc: rebuild
finger563 Jun 3, 2023
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feat(bldc_motor): refactor types 
* Moved non-templated types into their own header files (now inside espp::detail namespace) and updated example accordingly
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@finger563
finger563 committed May 31, 2023
commit abfe080626b6233bb606538f5495ed4a3c17f302
32 changes: 16 additions & 16 deletions components/bldc_motor/example/main/bldc_motor_example.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -115,8 +115,8 @@ extern "C" void app_main(void) {
.current_limit = 0.5f, // Amps
.zero_electric_offset = 1.1784807f, // gotten from previously running without providing this
// and it will be logged.
.sensor_direction = BldcMotor::Direction::CLOCKWISE,
.foc_type = BldcMotor::FocType::SPACE_VECTOR_PWM,
.sensor_direction = espp::detail::SensorDirection::CLOCKWISE,
.foc_type = espp::detail::FocType::SPACE_VECTOR_PWM,
.driver = driver,
.sensor = mt6701,
.velocity_pid_config =
Expand All @@ -141,10 +141,10 @@ extern "C" void app_main(void) {
},
.log_level = espp::Logger::Verbosity::INFO});

// static const auto motion_control_type = BldcMotor::MotionControlType::VELOCITY;
static const auto motion_control_type = BldcMotor::MotionControlType::ANGLE;
// static const auto motion_control_type = BldcMotor::MotionControlType::VELOCITY_OPENLOOP;
// static const auto motion_control_type = BldcMotor::MotionControlType::ANGLE_OPENLOOP;
// static const auto motion_control_type = espp::detail::MotionControlType::VELOCITY;
static const auto motion_control_type = espp::detail::MotionControlType::ANGLE;
// static const auto motion_control_type = espp::detail::MotionControlType::VELOCITY_OPENLOOP;
// static const auto motion_control_type = espp::detail::MotionControlType::ANGLE_OPENLOOP;

// Set the motion control type and create a target for the motor (will be
// updated in the target update task below)
Expand All @@ -156,8 +156,8 @@ extern "C" void app_main(void) {
auto start = std::chrono::high_resolution_clock::now();
// command the motor
motor.loop_foc();
if (motion_control_type == BldcMotor::MotionControlType::VELOCITY ||
motion_control_type == BldcMotor::MotionControlType::VELOCITY_OPENLOOP) {
if (motion_control_type == espp::detail::MotionControlType::VELOCITY ||
motion_control_type == espp::detail::MotionControlType::VELOCITY_OPENLOOP) {
// if it's a velocity setpoint, convert it from RPM to rad/s
motor.move(target * espp::RPM_TO_RADS);
} else {
Expand Down Expand Up @@ -185,17 +185,17 @@ extern "C" void app_main(void) {
enum class IncrementDirection { DOWN = -1, HOLD = 0, UP = 1 };
static IncrementDirection increment_direction = IncrementDirection::UP;
static const bool is_angle =
motion_control_type == BldcMotor::MotionControlType::ANGLE ||
motion_control_type == BldcMotor::MotionControlType::ANGLE_OPENLOOP;
motion_control_type == espp::detail::MotionControlType::ANGLE ||
motion_control_type == espp::detail::MotionControlType::ANGLE_OPENLOOP;
static const float max_target = is_angle ? (2.0f * M_PI) : 200.0f;
static const float target_delta = is_angle ? (M_PI / 4.0f) : (50.0f * core_update_period);
switch (motion_control_type) {
case BldcMotor::MotionControlType::VELOCITY:
case BldcMotor::MotionControlType::VELOCITY_OPENLOOP:
case espp::detail::MotionControlType::VELOCITY:
case espp::detail::MotionControlType::VELOCITY_OPENLOOP:
target = 50.0f;
break;
case BldcMotor::MotionControlType::ANGLE:
case BldcMotor::MotionControlType::ANGLE_OPENLOOP:
case espp::detail::MotionControlType::ANGLE:
case espp::detail::MotionControlType::ANGLE_OPENLOOP:
target = M_PI; // 180 degrees (whereever that is...)
break;
default:
Expand Down Expand Up @@ -262,8 +262,8 @@ extern "C" void app_main(void) {
.callback = task_fn,
.stack_size_bytes = 5 * 1024,
.log_level = espp::Logger::Verbosity::WARN});
if (motion_control_type == BldcMotor::MotionControlType::VELOCITY ||
motion_control_type == BldcMotor::MotionControlType::VELOCITY_OPENLOOP) {
if (motion_control_type == espp::detail::MotionControlType::VELOCITY ||
motion_control_type == espp::detail::MotionControlType::VELOCITY_OPENLOOP) {
// if it's a velocity setpoint then target is RPM
fmt::print("%time(s), count, radians, degrees, target velocity (rpm), actual speed (rpm)\n");
} else {
Expand Down
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