Separate MotorConfiguration and ChannelConfiguration

Every-Flavor-Robotics / motorgo-mini-driver

Driver software for the MotorGo Mini board

MIT License

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Separate MotorConfiguration and ChannelConfiguration #81

Closed SwapnilPande closed 6 months ago

SwapnilPande commented 6 months ago

Separated MotorParameters into MotorConfiguration and ChannelConfiguration. MotorConfiguration describes physical specs of motors, and ChannelConfiguration describes the specs of the motor driver.
Created a default MotorGoGreen motor for the PTZ 2804 motors, with limits to protect from thermal protection limits.
Removed ability to set limits for the cascaded PID controller built-in to SimpleFOC, as these are used to handle the current and voltage limits of the driver and motor
Added getters and setters for user-configurable limits on torque, velocity, position, and voltage.

Closes #70 Closes #78

SwapnilPande commented 6 months ago

@stilsota Requesting a test on the balance bot one more time to make sure that the PTZ motors are capable of balancing still

SwapnilPande commented 6 months ago

Latest changes enforce the current limit in voltage control mode as well, and allow for defining the driver voltage/current limits in the board definitions. We'll eventually have to submit another PR to Arduino ESP32 core adding these limits.

SwapnilPande commented 6 months ago

Latest changes remove KV, Phase Resistance, and set voltage limit of the MotorGo Green motor to be within the safe bounds for the MotorGo Mini drivers. #88, #89 opened to track adding these back in.

SwapnilPande commented 6 months ago

Merging - tested on Scout balance bot. The current limit will still brown out a computer power supply, but not a wall power supply. Added an example in balance bot example code to demonstrate to users how to lower the voltage limit.