FEAR command restructuring

Author: askuric

examples/motor_full_control_serial_examples/encoder/full_control_serial/full_control_serial.ino

@@ -112,23 +112,22 @@ void loop() {
   // if tatget not set in parameter uses motor.target variable
   motor.move();
 
-  // output motor state variabels to the monitoring port (Serial)
-  // motor.monitor();
-  
   // user communication
-  serialReceiveUserCommand();
+  motor.command(serialReceiveUserCommand());
 }
 
 // utility function enabling serial communication function with the user
 // user can set the target values and set/get the motor configuration useing motor commands 
 // see documentation for full command list 
 // 
 // this function can be implemented in serialEvent function as well
-void serialReceiveUserCommand() {
+String serialReceiveUserCommand() {
 
   // a string to hold incoming data
   static String received_chars;
 
+  String command = "";
+
   while (Serial.available()) {
     // get the new byte:
     char inChar = (char)Serial.read();
@@ -139,11 +138,12 @@ void serialReceiveUserCommand() {
     if (inChar == '\n') {
 
       // execute the user command
-      motor.command(received_chars);
+      command = received_chars;
 
       // reset the command buffer 
       received_chars = "";
     }
   }
+  return command;
 }
 

examples/motor_full_control_serial_examples/magnetic_sensor/full_control_serial/full_control_serial.ino

@@ -59,7 +59,7 @@ void setup() {
   // set control loop type to be used
   motor.controller = ControlType::voltage;
 
-  // contoller configuration based on the controll type 
+  // contoller configuration based on the control type 
   motor.PI_velocity.P = 0.2;
   motor.PI_velocity.I = 20;
   // default voltage_power_supply
@@ -105,24 +105,23 @@ void loop() {
   // velocity, position or voltage
   // if tatget not set in parameter uses motor.target variable
   motor.move();
-
-  // output motor state variabels to the monitoring port (Serial)
-  // motor.monitor();
 
   // user communication
-  serialReceiveUserCommand();
+  motor.command(serialReceiveUserCommand());
 }
 
 // utility function enabling serial communication function with the user
 // user can set the target values and set/get the motor configuration useing motor commands 
 // see documentation for full command list 
 // 
 // this function can be implemented in serialEvent function as well
-void serialReceiveUserCommand() {
+String serialReceiveUserCommand() {
 
   // a string to hold incoming data
   static String received_chars;
 
+  String command = "";
+
   while (Serial.available()) {
     // get the new byte:
     char inChar = (char)Serial.read();
@@ -133,11 +132,12 @@ void serialReceiveUserCommand() {
     if (inChar == '\n') {
 
       // execute the user command
-      motor.command(received_chars);
+      command = received_chars;
 
       // reset the command buffer 
       received_chars = "";
     }
   }
+  return command;
 }
 

src/BLDCMotor.cpp

@@ -468,6 +468,9 @@ void BLDCMotor::monitor() {
 int BLDCMotor::command(String user_command) {
   // error flag
   int errorFlag = 1;
+  // if empty string
+  if(user_command.length() < 1) return errorFlag;
+
   // parse command letter
   char cmd = user_command.charAt(0);
   // check if get command
@@ -512,6 +515,11 @@ int BLDCMotor::command(String user_command) {
       if(!GET) P_angle.velocity_limit = value;
       if(monitor_port) monitor_port->println(P_angle.velocity_limit);
       break;
+    case 'T':      // angle loop gain velocity_limit change
+      if(monitor_port) monitor_port->print("P angle velocity limit: ");
+      if(!GET) P_angle.velocity_limit = value;
+      if(monitor_port) monitor_port->println(P_angle.velocity_limit);
+      break;
     case 'C':
       // change control type
       if(monitor_port) monitor_port->print("Contoller type: ");

src/BLDCMotor.h

@@ -95,12 +95,12 @@ class BLDCMotor
     void linkSensor(Sensor* sensor);
 
     /**
-     * Function intializing FOC algorithm
-     * and aligning sensor's and motors's zero position 
+     * Function initializing FOC algorithm
+     * and aligning sensor's and motors' zero position 
      */  
     int initFOC(); 
     /**
-     * Function runing FOC algorithm in real-time
+     * Function running FOC algorithm in real-time
      * it calculates the gets motor angle and sets the appropriate voltages 
      * to the phase pwm signals
      * - the faster you can run it the better Arduino UNO ~1ms, Bluepill ~ 100us
@@ -171,7 +171,7 @@ class BLDCMotor
     * Method using FOC to set Uq to the motor at the optimal angle
     * Heart of the FOC algorithm
     * 
-    * @param Uq Current volatge in q axis to set to the motor
+    * @param Uq Current voltage in q axis to set to the motor
     * @param angle_el current electrical angle of the motor
     */
     void setPhaseVoltage(float Uq, float angle_el);