Control

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

This code works with the Feelix Effect Arduino Library

You can also use the functions specified in the documentation of the simpleFOC library directly.

Control type options

Use when writing custom code for motor control. For FeelixEffects, this is automatically handled in the backend.

The MotionControlType can be changed at runtime to switch control modes.

feelix.bldc->controller = MotionControlType::torque;
feelix.bldc->controller = MotionControlType::angle;
feelix.bldc->controller = MotionControlType::velocity;

Move Motor

Set controlType to MotionControlType::torque, MotionControlType::angle, or MotionControlType::velocity.

• In torque mode, targetValue sets the voltage.

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

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

feelix.move_feelix(float targetValue, MotionControlType controlType);

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;

Functions and Parameters

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

void setVoltageLimit(float limit);

void setVelocityLimit(float limit);

float transmissionFactor;

bool constrain_range;