Making the power supply working

cemuelle commented 4 months ago

Power the whole system with our power supply. Now there is an issue that when initializing the motors, they draw to much current and it cannot complete the setup.

cemuelle commented 4 months ago

To managed to power with our power supply the whole game board, I had to make some changes :

Add a delay before one of the motor so they don't start at the same time
Indicating the direction of the rotation of the motor so it can skip some steps with making the motor turning in different directions
Limiting the sensor align voltage

#include <Arduino.h>
#include <SimpleFOC.h>

BLDCMotor motor = BLDCMotor(7, 0.025); // br3536 kv1200
BLDCDriver6PWM driver = BLDCDriver6PWM(A_PHASE_UH, A_PHASE_UL, A_PHASE_VH, A_PHASE_VL, A_PHASE_WH, A_PHASE_WL);
LowsideCurrentSense currentSense = LowsideCurrentSense(0.003f, -64.0f/7.0f, A_OP1_OUT, A_OP2_OUT, A_OP3_OUT);
MagneticSensorI2C sensor = MagneticSensorI2C(AS5600_I2C);

Commander commander = Commander(Serial);
void onMotion(char* cmd) { commander.motion(&motor, cmd); }

void setup() {
  delay(2000);
  Wire.setClock(400000);
  sensor.init();

  motor.linkSensor(&sensor);

  driver.voltage_power_supply = 12;
  driver.init();
  motor.linkDriver(&driver);
  currentSense.linkDriver(&driver);

  currentSense.init();
  currentSense.skip_align = true;
  motor.linkCurrentSense(&currentSense);

  motor.controller = MotionControlType::angle;

  motor.voltage_limit = 12;
  motor.current_limit = 35;
  motor.velocity_limit = 200;

  motor.PID_velocity.P = 0.2;
  motor.PID_velocity.I = 20;
  motor.PID_velocity.D = 0.001;
  motor.PID_velocity.output_ramp = 2000;
  motor.LPF_velocity.Tf = 0.01;

  Serial.begin(115200);

  motor.useMonitoring(Serial);

  motor.sensor_direction = Direction::CW;

  motor.sensor_offset = 0;
  motor.voltage_sensor_align = 6;

  motor.init();
  motor.initFOC();

  commander.add('M', onMotion, "motion control");

  Serial.println(F("Motor ready."));
  Serial.println(F("Set the target angle using serial terminal:"));
  _delay(1000);
}

void loop() {
  motor.loopFOC();
  motor.move();
  commander.run();
}

cemuelle commented 4 months ago

Before these modifications, the motors weren't able to complete they're initialization and the screen of the board was going off. Now we saw that the screen blink a little bit, but still receive current !

https://github.com/epfl-cs358/2024sp-robopong/assets/55513917/2c86bed8-51ab-4718-a81a-296f8024ca99

epfl-cs358 / 2024sp-robopong

Making the power supply working #56