New example for TMC6300 and RP2040

[Abi-64]

I tested this code with TMC6300 driver and Arduino RP2040 connect and it works perfectly, if you could add it to the examples it would be helpful to others as well.
Thanks.
:

// Open loop motor control example
#include <SimpleFOC.h>


// BLDC motor & driver instance
// BLDCMotor motor = BLDCMotor(pole pair number);
BLDCMotor motor = BLDCMotor(7);
// BLDCDriver3PWM driver = BLDCDriver3PWM(pwmA, pwmB, pwmC, Enable(optional));
BLDCDriver6PWM driver = BLDCDriver6PWM(15,25, 17,16,19,18);

 //target variable
float target_velocity =70;

// // instantiate the commander
Commander command = Commander(Serial);
// void doTarget(char* cmd) { command.scalar(&target_velocity, cmd); }
// void doLimit(char* cmd) { command.scalar(&motor.voltage_limit, cmd); }

void setup() {

  // driver config
  // power supply voltage [V]
  driver.voltage_power_supply = 11;
  // limit the maximal dc voltage the driver can set
  // as a protection measure for the low-resistance motors
  // this value is fixed on startup
  driver.voltage_limit = 11;
  // pwm frequency to be used [Hz]
  // for atmega328 fixed to 32kHz
  // esp32/stm32/teensy configurable
  driver.pwm_frequency = 32000;


  driver.init();
  // link the motor and the driver
  motor.linkDriver(&driver);

  // limiting motor movements
  // limit the voltage to be set to the motor
  // start very low for high resistance motors
  // current = voltage / resistance, so try to be well under 1Amp
  motor.voltage_limit = 11;   // [V]

  // open loop control config
  motor.controller = MotionControlType::velocity_openloop;

  // init motor hardware
  motor.init();

  // add target command T
  // command.add('T', doTarget, "target velocity");
  // command.add('L', doLimit, "voltage limit");

  Serial.begin(115200);
  Serial.println("Motor ready!");
  Serial.println("Set target velocity [rad/s]");
  _delay(1000);

}

void loop() {

  // open loop velocity movement
  // using motor.voltage_limit and motor.velocity_limit
  motor.move(target_velocity);

  // user communication
  command.run();


}

[runger1101001]

Hiya!

Is it about the pin numbers used for the Arduino RP2040 connect?

Because we already have examples for open loop mode...

[Abi-64]

I couldn't find an example which could work out of the box for RP2040, and also help me to understand how the library works, this one was really helpful.