Merge branch 'dev'

askuric · askuric · commit 5cc616f6367e · 2020-06-14T19:03:26.000+02:00
diff --git a/README.md b/README.md
@@ -128,20 +128,19 @@ void setup() {
   encoder.init();
   // hardware interrupt enable
   encoder.enableInterrupts(doA, doB);
-
-  // set control loop type to be used
-  motor.controller = ControlType::velocity;
-  
-  // use debugging with the BLDCMotor
-  Serial.begin(115200);
-  // debugging port
-  motor.useDebugging(Serial);
-
   // link the motor to the sensor
   motor.linkSensor(&encoder);
+  
+  // use monitoring with the BLDCMotor
+  Serial.begin(115200);
+  // monitoring port
+  motor.useMonitoring(Serial);
 
+  // set control loop type to be used
+  motor.controller = ControlType::velocity;
   // initialize motor
   motor.init();
+  
   // align encoder and start FOC
   motor.initFOC();
 }
@@ -154,7 +153,7 @@ void loop() {
   // setting the target velocity or 2rad/s
   motor.move(2);
 
-  // debugging function outputting motor variables to the serial terminal 
+  // monitoring function outputting motor variables to the serial terminal 
   motor.monitor();
 }
 ```
diff --git a/examples/hardware_specific_examples/Bluepill_examples/encoder/bluepill_position_control/bluepill_position_control.ino b/examples/hardware_specific_examples/Bluepill_examples/encoder/bluepill_position_control/bluepill_position_control.ino
@@ -59,10 +59,10 @@ void setup() {
   motor.P_angle.velocity_limit = 4;
 
 
-  // use debugging with serial 
+  // use monitoring with serial 
   Serial.begin(115200);
   // comment out if not needed
-  motor.useDebugging(Serial);
+  motor.useMonitoring(Serial);
   
   // initialize motor
   motor.init();
diff --git a/examples/hardware_specific_examples/Bluepill_examples/magnetic_sensor/bluepill_position_control/bluepill_position_control.ino b/examples/hardware_specific_examples/Bluepill_examples/magnetic_sensor/bluepill_position_control/bluepill_position_control.ino
@@ -51,10 +51,10 @@ void setup() {
   // maximal velocity of the position control
   motor.P_angle.velocity_limit = 40;
 
-  // use debugging with serial 
+  // use monitoring with serial 
   Serial.begin(115200);
   // comment out if not needed
-  motor.useDebugging(Serial);
+  motor.useMonitoring(Serial);
 
   
   // initialize motor
diff --git a/examples/hardware_specific_examples/HMBGC_example/position_control/position_control.ino b/examples/hardware_specific_examples/HMBGC_example/position_control/position_control.ino
@@ -73,10 +73,10 @@ void setup() {
   motor.P_angle.velocity_limit = 4;
 
 
-  // use debugging with serial 
+  // use monitoring with serial 
   Serial.begin(115200);
   // comment out if not needed
-  motor.useDebugging(Serial);
+  motor.useMonitoring(Serial);
   
   // initialize motor
   motor.init();
diff --git a/examples/hardware_specific_examples/HMBGC_example/voltage_control/voltage_control.ino b/examples/hardware_specific_examples/HMBGC_example/voltage_control/voltage_control.ino
@@ -58,14 +58,14 @@ void setup() {
   // set motion control loop to be used
   motor.controller = ControlType::voltage;
 
-  // use debugging with serial for motor init
+  // use monitoring with serial for motor init
   // comment out if not needed
-  motor.useDebugging(Serial);
+  motor.useMonitoring(Serial);
 
-  // use debugging with serial 
+  // use monitoring with serial 
   Serial.begin(115200);
   // comment out if not needed
-  motor.useDebugging(Serial);
+  motor.useMonitoring(Serial);
 
   // initialize motor
   motor.init();
diff --git a/examples/motion_control/position_motion_control/encoder/angle_control/angle_control.ino b/examples/motion_control/position_motion_control/encoder/angle_control/angle_control.ino
@@ -84,10 +84,10 @@ void setup() {
   motor.P_angle.velocity_limit = 4;
 
 
-  // use debugging with serial 
+  // use monitoring with serial 
   Serial.begin(115200);
   // comment out if not needed
-  motor.useDebugging(Serial);
+  motor.useMonitoring(Serial);
   
   // initialize motor
   motor.init();
diff --git a/examples/motion_control/position_motion_control/magnetic_sensor/angle_control/angle_control.ino b/examples/motion_control/position_motion_control/magnetic_sensor/angle_control/angle_control.ino
@@ -50,10 +50,10 @@ void setup() {
   // maximal velocity of the position control
   motor.P_angle.velocity_limit = 20;
 
-  // use debugging with serial 
+  // use monitoring with serial 
   Serial.begin(115200);
   // comment out if not needed
-  motor.useDebugging(Serial);
+  motor.useMonitoring(Serial);
 
   
   // initialize motor
diff --git a/examples/motion_control/torque_voltage_control/encoder/voltage_control/voltage_control.ino b/examples/motion_control/torque_voltage_control/encoder/voltage_control/voltage_control.ino
@@ -38,14 +38,14 @@ void setup() {
   // set motion control loop to be used
   motor.controller = ControlType::voltage;
 
-  // use debugging with serial for motor init
+  // use monitoring with serial for motor init
   // comment out if not needed
-  motor.useDebugging(Serial);
+  motor.useMonitoring(Serial);
 
-  // use debugging with serial 
+  // use monitoring with serial 
   Serial.begin(115200);
   // comment out if not needed
-  motor.useDebugging(Serial);
+  motor.useMonitoring(Serial);
 
   // initialize motor
   motor.init();
diff --git a/examples/motion_control/torque_voltage_control/magnetic_sensor/voltage_control/voltage_control.ino b/examples/motion_control/torque_voltage_control/magnetic_sensor/voltage_control/voltage_control.ino
@@ -31,14 +31,14 @@ void setup() {
   // set motion control loop to be used
   motor.controller = ControlType::voltage;
 
-  // use debugging with serial for motor init
+  // use monitoring with serial for motor init
   // comment out if not needed
-  motor.useDebugging(Serial);
+  motor.useMonitoring(Serial);
 
-  // use debugging with serial 
+  // use monitoring with serial 
   Serial.begin(115200);
   // comment out if not needed
-  motor.useDebugging(Serial);
+  motor.useMonitoring(Serial);
 
   // initialize motor
   motor.init();
diff --git a/examples/motion_control/velocity_motion_control/encoder/velocity_control/velocity_control.ino b/examples/motion_control/velocity_motion_control/encoder/velocity_control/velocity_control.ino
@@ -79,10 +79,10 @@ void setup() {
   // velocity low pass filtering time constant
   motor.LPF_velocity.Tf = 0.01;
 
-  // use debugging with serial 
+  // use monitoring with serial 
   Serial.begin(115200);
   // comment out if not needed
-  motor.useDebugging(Serial);
+  motor.useMonitoring(Serial);
 
   // initialize motor
   motor.init();
diff --git a/examples/motion_control/velocity_motion_control/magnetic_sensor/velocity_control/velocity_control.ino b/examples/motion_control/velocity_motion_control/magnetic_sensor/velocity_control/velocity_control.ino
@@ -49,10 +49,10 @@ void setup() {
   // the lower the less filtered
   motor.LPF_velocity.Tf = 0.01;
 
-  // use debugging with serial 
+  // use monitoring with serial 
   Serial.begin(115200);
   // comment out if not needed
-  motor.useDebugging(Serial);
+  motor.useMonitoring(Serial);
 
   // initialize motor
   motor.init();
diff --git a/examples/motor_full_control_serial_examples/encoder/full_control_serial/full_control_serial.ino b/examples/motor_full_control_serial_examples/encoder/full_control_serial/full_control_serial.ino
@@ -79,11 +79,11 @@ void setup() {
   // angle loop velocity limit
   motor.P_angle.velocity_limit = 50;
 
-  // use debugging with serial for motor init
-  // debugging port
+  // use monitoring with serial for motor init
+  // monitoring port
   Serial.begin(115200);
   // comment out if not needed
-  motor.useDebugging(Serial);
+  motor.useMonitoring(Serial);
 
   // initialise motor
   motor.init();
@@ -112,7 +112,7 @@ void loop() {
   // if tatget not set in parameter uses motor.target variable
   motor.move();
 
-  // output motor state variabels to the debugging port (Serial)
+  // output motor state variabels to the monitoring port (Serial)
   // motor.monitor();
   
   // user communication
diff --git a/examples/motor_full_control_serial_examples/magnetic_sensor/full_control_serial/full_control_serial.ino b/examples/motor_full_control_serial_examples/magnetic_sensor/full_control_serial/full_control_serial.ino
@@ -73,11 +73,11 @@ void setup() {
   // angle loop velocity limit
   motor.P_angle.velocity_limit = 50;
 
-  // use debugging with serial for motor init
-  // debugging port
+  // use monitoring with serial for motor init
+  // monitoring port
   Serial.begin(115200);
   // comment out if not needed
-  motor.useDebugging(Serial);
+  motor.useMonitoring(Serial);
 
   // initialise motor
   motor.init();
@@ -106,7 +106,7 @@ void loop() {
   // if tatget not set in parameter uses motor.target variable
   motor.move();
 
-  // output motor state variabels to the debugging port (Serial)
+  // output motor state variabels to the monitoring port (Serial)
   // motor.monitor();
   
   // user communication
diff --git a/examples/utils/find_pole_pair_number/encoder/find_pole_pairs_number/find_pole_pairs_number.ino b/examples/utils/find_pole_pair_number/encoder/find_pole_pairs_number/find_pole_pairs_number.ino
@@ -43,7 +43,7 @@ void setup() {
   motor.init();
 
 
-  // debugging port
+  // monitoring port
   Serial.begin(115200);
 
   // pole pairs calculation routine
@@ -88,7 +88,7 @@ void setup() {
   Serial.println();
    
 
-  // a bit of debugging the result
+  // a bit of monitoring the result
   if(pp <= 0 ){
     Serial.println("Pole pair number cannot be negative");
     Serial.println(" - Try changing the search_voltage value or motor/encoder configuration.");
diff --git a/examples/utils/find_pole_pair_number/magnetic_sensor/find_pole_pairs_number/find_pole_pairs_number.ino b/examples/utils/find_pole_pair_number/magnetic_sensor/find_pole_pairs_number/find_pole_pairs_number.ino
@@ -37,7 +37,7 @@ void setup() {
   // initialize motor hardware
   motor.init();
 
-  // debugging port
+  // monitoring port
   Serial.begin(115200);
 
   // pole pairs calculation routine
@@ -82,7 +82,7 @@ void setup() {
   Serial.println();
    
 
-  // a bit of debugging the result
+  // a bit of monitoring the result
   if(pp <= 0 ){
     Serial.println("Pole pair number cannot be negative");
     Serial.println(" - Try changing the search_voltage value or motor/sensor configuration.");
diff --git a/examples/utils/sensor_test/encoder_example/encoder_example.ino b/examples/utils/sensor_test/encoder_example/encoder_example.ino
@@ -14,7 +14,7 @@ void doA(){encoder.handleA();}
 void doB(){encoder.handleB();}
 
 void setup() {
-  // debugging port
+  // monitoring port
   Serial.begin(115200);
 
   // enable/disable quadrature mode
diff --git a/examples/utils/sensor_test/encoder_software_interrupts_example/encoder_software_interrupts_example.ino b/examples/utils/sensor_test/encoder_software_interrupts_example/encoder_software_interrupts_example.ino
@@ -25,7 +25,7 @@ PciListenerImp listenerA(encoder.pinA, doA);
 PciListenerImp listenerB(encoder.pinB, doB);
 
 void setup() {
-  // debugging port
+  // monitoring port
   Serial.begin(115200);
 
   // enable/disable quadrature mode
diff --git a/examples/utils/sensor_test/magnetic_sensor_example/magnetic_sensor_example.ino b/examples/utils/sensor_test/magnetic_sensor_example/magnetic_sensor_example.ino
@@ -7,7 +7,7 @@
 MagneticSensor AS5x4x = MagneticSensor(10, 16384, 0x3FFF);
 
 void setup() {
-  // debugging port
+  // monitoring port
   Serial.begin(115200);
 
   // initialise magnetic sensor hardware
diff --git a/keywords.txt b/keywords.txt
@@ -36,7 +36,7 @@ setPhaseVoltage	KEYWORD2
 getAngle	KEYWORD2
 initRelativeZero	KEYWORD2
 initAbsoluteZero	KEYWORD2
-useDebugging	KEYWORD2
+useMonitoring	KEYWORD2
 
 voltage_q	KEYWORD2
 shaft_angle_sp	KEYWORD2
diff --git a/src/BLDCMotor.cpp b/src/BLDCMotor.cpp
diff --git a/src/BLDCMotor.h b/src/BLDCMotor.h
diff --git a/src/SimpleFOC.h b/src/SimpleFOC.h
