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

Move Motor

• 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);

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

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

Transmission Factor

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

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