Control

These functions provide motor control without using effects from Feelix and are based on the SimpleFOC library. Visit simplefoc.com for more details.

Functions and Parameters

Move Motor

This code works with the Feelix Effect Arduino Library

• In torque mode MotionControlType::torque the targetValue sets the voltage.

• In angle mode MotionControlType::angle the targetValue sets the target position (radians).

• In velocity mode MotionControlType::velocity the targetValue sets the target speed (rad/s).

feelix.move_feelix(float targetValue, MotionControlType controlType);

Disable driver

feelix.disable();

Enable driver

feelix.enable(); // enabled by default in feelix.init();

Set rotation range

void setRange(float rangeMin, float rangeMax, bool updateStartPos = true);

• rangeMin – start position in degrees (default: 0)

• rangeMax – end position in degrees (default: 360)

• updateStartPos (optional) – set current position to zero (default: true)

Constrain range within which effects can be played

bool constrain_range = true;  // default: false

Set voltage limit

void setVoltageLimit(float limit);  // default: 12.0 V

Set velocity limit

void setVelocityLimit(float limit);  // default: 22.0 rad/s

Motor Control Parameters

PID controller settings (more information)

Angle PID

feelix.bldc->P_angle.P = 14.0;
feelix.bldc->P_angle.I = 0.0;
feelix.bldc->P_angle.D = 0.0;

Velocity PID

feelix.bldc->PID_velocity.P = 0.5;
feelix.bldc->PID_velocity.I = 10.0;
feelix.bldc->PID_velocity.D = 0.0;

Variables

Variables updated in feelix.run()

feelix.angle           // angle in radians
feelix.angleDeg        // angle in degrees
feelix.velocity        // velocity in rad/s
feelix.temperature     // temperature motor 
feelix.driverVoltage   // voltage used to drive the motor
feelix.status          // status of the motor (see below)

Status

enum STATUS {
  STANDBY             = 0, // default status
  ERROR_TEMP          = 1, // temperature exceeds 60.0 degrees
  ERROR_UNDERVOLTAGE  = 2, // voltage is below 6.0V
  RUN_HAPTIC          = 3, // playing a haptic effect 
  RUN_VELOCITY        = 4, // playing a velocity effect
  ROTATING            = 5, // moving towards a target position
  DISABLED            = 6, // driver disabled
  ENABLED             = 7  // driver enabled
};

Transmission Factor

Setting this factor lets you account for gear ratios so motion is calculated at the output shaft rather than just at the motor.

float transmissionFactor = 1.0; //default 1.0

transmission factor = (teeth of driven gear) ÷ (teeth of driving gear)