115 lines
2.6 KiB
C++
115 lines
2.6 KiB
C++
/**
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Deng's FOC 闭环速度控制例程 测试库：SimpleFOC 2.1.1 测试硬件：灯哥开源FOC V1.0
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在串口窗口中输入：T+速度，就可以使得两个电机闭环转动
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比如让两个电机都以 10rad/s 的速度转动，则输入：T10
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在使用自己的电机时，请一定记得修改默认极对数，即 BLDCMotor(7) 中的值，设置为自己的极对数数字
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程序默认设置的供电电压为 16.8V,用其他电压供电请记得修改 voltage_power_supply , voltage_limit 变量中的值
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默认PID针对的电机是 GB6010 ，使用自己的电机需要修改PID参数，才能实现更好效果
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*/
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#include <SimpleFOC.h>
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#include <WiFi.h>
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#include <AsyncUDP.h> //引用以使用异步UDP
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const char *ssid = "esp32";
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const char *password = "12345678";
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AsyncUDP udp; //创建UDP对象
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unsigned int localUdpPort = 2333; //本地端口号
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MagneticSensorI2C sensor = MagneticSensorI2C(AS5600_I2C);
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TwoWire I2Cone = TwoWire(0);
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//电机参数
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BLDCMotor motor = BLDCMotor(5);
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BLDCDriver3PWM driver = BLDCDriver3PWM(32, 33, 25, 22);
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//命令设置
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int target_velocity = 0;
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void onPacketCallBack(AsyncUDPPacket packet)
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{
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target_velocity = atoi((char*)(packet.data()));
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Serial.print("数据内容: ");
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Serial.println(target_velocity);
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// packet.print("reply data");
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}
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void setup() {
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Serial.begin(115200);
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//wifi初始化
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WiFi.mode(WIFI_AP);
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while(!WiFi.softAP(ssid, password)){}; //启动AP
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Serial.println("AP启动成功");
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while (!udp.listen(localUdpPort)) //等待udp监听设置成功
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{
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}
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udp.onPacket(onPacketCallBack); //注册收到数据包事件
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I2Cone.begin(23, 5, 400000); //SDA,SCL
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sensor.init(&I2Cone);
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//连接motor对象与传感器对象
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motor.linkSensor(&sensor);
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//供电电压设置 [V]
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driver.voltage_power_supply = 12;
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driver.init();
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//连接电机和driver对象
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motor.linkDriver(&driver);
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//FOC模型选择
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motor.foc_modulation = FOCModulationType::SpaceVectorPWM;
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//运动控制模式设置
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motor.controller = MotionControlType::velocity;
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//速度PI环设置
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motor.PID_velocity.P = 1.5;
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motor.PID_velocity.I = 20;
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//最大电机限制电机
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motor.voltage_limit = 12;
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//速度低通滤波时间常数
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motor.LPF_velocity.Tf = 0.01;
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//设置最大速度限制
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motor.velocity_limit = 40;
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motor.useMonitoring(Serial);
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//初始化电机
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motor.init();
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//初始化 FOC
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motor.initFOC();
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Serial.println(F("Motor ready."));
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Serial.println(F("Set the target velocity using serial terminal:"));
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}
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void loop() {
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motor.loopFOC();
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motor.move(target_velocity);
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}
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