added driver limit to the openloop examples #124

Author: askuric

examples/motion_control/open_loop_motor_control/open_loop_position_example/open_loop_position_example.ino

@@ -18,18 +18,28 @@ float target_position = 0;
 // instantiate the commander
 Commander command = Commander(Serial);
 void doTarget(char* cmd) { command.scalar(&target_position, cmd); }
+void doLimit(char* cmd) { command.scalar(&motor.voltage_limit, cmd); }
 
 void setup() {
 
   // driver config
   // power supply voltage [V]
   driver.voltage_power_supply = 12;
+  // limit the maximal dc voltage the driver can set
+  // as a protection measure for the low-resistance motors
+  // this value is fixed on startup
+  driver.voltage_limit = 6;
   driver.init();
   // link the motor and the driver
   motor.linkDriver(&driver);
 
   // limiting motor movements
+  // limit the voltage to be set to the motor
+  // start very low for high resistance motors
+  // currnet = resistance*voltage, so try to be well under 1Amp
   motor.voltage_limit = 3;   // [V]
+  // limit/set the velocity of the transition in between 
+  // target angles
   motor.velocity_limit = 5; // [rad/s] cca 50rpm
   // open loop control config
   motor.controller = MotionControlType::angle_openloop;
@@ -39,6 +49,7 @@ void setup() {
 
   // add target command T
   command.add('T', doTarget, "target angle");
+  command.add('L', doLimit, "voltage limit");
 
   Serial.begin(115200);
   Serial.println("Motor ready!");

examples/motion_control/open_loop_motor_control/open_loop_velocity_example/open_loop_velocity_example.ino

@@ -18,20 +18,27 @@ float target_velocity = 0;
 
 // instantiate the commander
 Commander command = Commander(Serial);
-void doTarget(char* cmd) { command.scalar(&target_velocity, cmd); }
+void doTarget(char* cmd) { command.scalar(&target_position, cmd); }
+void doLimit(char* cmd) { command.scalar(&motor.voltage_limit, cmd); }
 
 void setup() {
 
   // driver config
   // power supply voltage [V]
   driver.voltage_power_supply = 12;
+  // limit the maximal dc voltage the driver can set
+  // as a protection measure for the low-resistance motors
+  // this value is fixed on startup
+  driver.voltage_limit = 6;
   driver.init();
   // link the motor and the driver
   motor.linkDriver(&driver);
 
   // limiting motor movements
+  // limit the voltage to be set to the motor
+  // start very low for high resistance motors
+  // currnet = resistance*voltage, so try to be well under 1Amp
   motor.voltage_limit = 3;   // [V]
-  motor.velocity_limit = 5; // [rad/s] cca 50rpm
 
   // open loop control config
   motor.controller = MotionControlType::velocity_openloop;
@@ -40,7 +47,8 @@ void setup() {
   motor.init();
 
   // add target command T
-  command.add('T', doTarget, "target velocity");
+  command.add('T', doTarget, "target angle");
+  command.add('L', doLimit, "voltage limit");
 
   Serial.begin(115200);
   Serial.println("Motor ready!");