SimpleFOC DCMotor

⚠️ code in development! Please help us test it!

Control DC motors using SimpleFOC's infrastructure.

SimpleFOC is really intended for field oriented control of PMSM motors, it's in the name ;-). But for different reasons, sometimes DC motors are preferred, and while we're not focused on this use-case, we do have a fair amount of code that can be leveraged to help with DC-Motor control applications.

So this represents a less-supported effort to provide some useful building blocks for DC-Motors.

DCMotor

This library contains an initial implementation of a DCMotor class for closed loop control of DC motors using SimpleFOC's infrastructure.

It supports closed loop motor control based on a position sensor on the motor shaft, with the following modes:

• Torque-voltage control
• Velocity control
• Position control
• Torque-current control (:warning: not yet implemented)

It is intended to be used with one of the DCDriver classes.

You can use any of the SimpleFOC sensor classes from this repository or the main repository.

Open loop control

Open loop control is not supported by this class. But you can open loop control a DC motor just by directly using the DCDriver class and its driver.setPwm(volts) method.

Usage

DCDriver driver = DCDriver2PWM(1,2,3);
Sensor sensor = MagneticSensorAS5048A(10);

void setup() {
    sensor.init();
    driver.init();
    motor.linkSensor(&sensor);
    motor.linkDriver(&driver);
    motor.controller = MotionControlType::torque;
    motor.torque_controller = TorqueControlType::voltage;
    motor.init();
}

void loop() {
    motor.move(5); // 5 Volts
}

More detailed examples can be found here.