Feat stepper current sensing

README.md

@@ -28,18 +28,8 @@ Therefore this is an attempt to:
    - For official driver boards see [<span class="simple">Simple<span class="foc">FOC</span>Boards</span>](https://docs.simplefoc.com/boards)
    - Many many more boards developed by the community members, see [<span class="simple">Simple<span class="foc">FOC</span>Community</span>](https://community.simplefoc.com/)
 
-> NEW RELEASE 📢 : <span class="simple">Simple<span class="foc">FOC</span>library</span> v2.3.3
-> - Teensy4 
->   - support for low-side current sensing [#392](https://github.com/simplefoc/Arduino-FOC/pull/392)
->   - support for center aligned 6pwm and 3pwm (optional) [#392](https://github.com/simplefoc/Arduino-FOC/pull/392)
-> - stm32 
->   - support for center aligned pwm (even across multiple timers and motors/drivers) [#374](https://github.com/simplefoc/Arduino-FOC/pull/374), [#388](https://github.com/simplefoc/Arduino-FOC/pull/388)
->   - support for DMA based low-side current sensing: [#383](https://github.com/simplefoc/Arduino-FOC/pull/383),[#378](https://github.com/simplefoc/Arduino-FOC/pull/378)
->   - support for f7 architecture [#388](https://github.com/simplefoc/Arduino-FOC/pull/388),[#394](https://github.com/simplefoc/Arduino-FOC/pull/394)
-> - KV rating calculation fix [#347](https://github.com/simplefoc/Arduino-FOC/pull/347)
-> - Much more performant Space Vector PWM calculation  [#340](https://github.com/simplefoc/Arduino-FOC/pull/340)
-> - And much more:
->   - See the complete list of bugfixes and new features of v2.3.3 [fixes and PRs](https://github.com/simplefoc/Arduino-FOC/milestone/10?closed=1)
+> NEXT RELEASE 📢 : <span class="simple">Simple<span class="foc">FOC</span>library</span> v2.3.4
+> - Current sensing support for Stepper motors (lowside and inline)
 
 
 ## Arduino *SimpleFOClibrary* v2.3.3

examples/hardware_specific_examples/SimpleFOCMini/open_loop/open_loop.ino

@@ -0,0 +1,93 @@
+/**
+ *
+ * SimpleFOCMini motor control example
+ * 
+ * For Arduino UNO or the other boards with the UNO headers
+ * the most convenient way to use the board is to stack it to the pins:
+ * - 12 - ENABLE
+ * - 11 - IN1
+ * - 10 - IN2
+ * -  9 - IN3
+ *
+ */
+#include <SimpleFOC.h>
+
+
+// BLDC motor & driver instance
+BLDCMotor motor = BLDCMotor(11);
+// BLDCDriver3PWM driver = BLDCDriver3PWM(11, 10, 9, 8); // mini v1.0
+BLDCDriver3PWM driver = BLDCDriver3PWM(9, 10, 11, 12); // mini v1.1
+
+// instantiate the commander
+Commander command = Commander(Serial);
+void doMotor(char* cmd) { command.motor(&motor, cmd); }
+
+void setup() {
+  // use monitoring with serial 
+  Serial.begin(115200);
+  // enable more verbose output for debugging
+  // comment out if not needed
+  SimpleFOCDebug::enable(&Serial);
+
+  // if SimpleFOCMini is stacked in arduino headers
+  // on pins 12,11,10,9,8 
+  // pin 12 is used as ground
+  pinMode(12,OUTPUT);
+  pinMode(12,LOW);
+
+  // driver config
+  // power supply voltage [V]
+  driver.voltage_power_supply = 12;
+  driver.init();
+  // link the motor and the driver
+  motor.linkDriver(&driver);
+
+  // aligning voltage [V]
+  motor.voltage_sensor_align = 3;
+
+  // set motion control loop to be used
+  motor.controller = MotionControlType::velocity_openloop;
+
+  // default voltage_power_supply
+  motor.voltage_limit = 2; // Volts
+
+  // comment out if not needed
+  motor.useMonitoring(Serial);
+
+  // initialize motor
+  motor.init();
+  // align encoder and start FOC
+  motor.initFOC();
+
+  // add target command M
+  command.add('M', doMotor, "motor");
+
+  Serial.println(F("Motor ready."));
+  Serial.println(F("Set the target velocity using serial terminal:"));
+
+  motor.target = 1; //initial target velocity 1 rad/s
+  Serial.println("Target velocity: 1 rad/s");
+  Serial.println("Voltage limit 2V");
+  _delay(1000);
+}
+
+void loop() {
+  // main FOC algorithm function
+  // the faster you run this function the better
+  // Arduino UNO loop  ~1kHz
+  // Bluepill loop ~10kHz
+  motor.loopFOC();
+
+  // Motion control function
+  // velocity, position or voltage (defined in motor.controller)
+  // this function can be run at much lower frequency than loopFOC() function
+  // You can also use motor.move() and set the motor.target in the code
+  motor.move();
+
+  // function intended to be used with serial plotter to monitor motor variables
+  // significantly slowing the execution down!!!!
+  // motor.monitor();
+
+  // user communication
+  command.run();
+}