Example - Factory Reset
This example, allows users to reprogram their board with the same sketch that it comes pre-programmed with from SparkFun.
Example Code
After installing and setting up the Arduino IDE and the Simple FOC Arduino library, users will need to upload the following example code using the SparkFun ESP32 Thing Plus C board definition. This code can be copied or downloaded below:
IoT_MotorDriver.ino Example Code
Example Code
IoT_MotorDriver.ino
/******************************************************************************
IoT Motor Driver Example
Written By:
Madison Chodikov
Eric Orosel
Company: SparkFun Electronics
Date: September 1 2023
This sketch is a stripped down version of the firmware that is preprogrammed
on the IoT Motor Driver. It is based on the open loop, velocity motor control
example from the SimpleFOC Arduino library.
This sketch will spin the motor based on the button inputs:
- Button 13: Starts/Stops the motor rotation
- Button 14: When spinning, switches the direction of rotation
===============================================================================
Products:
IoT Brushless Motor Driver: https://www.sparkfun.com/products/22132
Repository:
https://github.com/sparkfun/SparkFun_IoT_Brushless_Motor_Driver
===============================================================================
SparkFun code, firmware, and software is released under the MIT
License (http://opensource.org/licenses/MIT).
Distributed as-is; no warranty is given.
******************************************************************************/
#include <Wire.h>
#include <SimpleFOC.h> //http://librarymanager/All#Simple%20FOC
//GPIO
#define auxBtn2 13
#define auxBtn1 14
//driver
#define uh16 16
#define ul17 17
#define vh18 18
#define wh19 19
#define vl23 23
#define wl33 33
#define curSense 32
bool state = true;
//motor driver
BLDCMotor motor = BLDCMotor(7);
BLDCDriver6PWM driver = BLDCDriver6PWM(uh16, ul17, vh18, vl23, wh19, wl33, curSense);
float target_velocity = 0.0;
Commander command = Commander(Serial);
void doTarget(char* cmd) { command.scalar(&target_velocity, cmd); }
void doLimit(char* cmd) { command.scalar(&motor.voltage_limit, cmd); }
//////////////////////motor demo stuff///////////////////////////
struct Button{
const uint8_t PIN;
uint32_t numberKeyPresses;
bool pressed;
};
Button aux1 = {auxBtn1, 0, false};
Button aux2 = {auxBtn2, 0, false};
void IRAM_ATTR isr1(){
aux1.pressed = true;
target_velocity = target_velocity*(-1);
Serial.println("Changing directions.. ");
}
void IRAM_ATTR isr2(){
aux2.numberKeyPresses++;
aux2.pressed = true;
if((aux2.numberKeyPresses % 2) == 0)
{
target_velocity = 0;
Serial.println("Stopping motor.. ");
}
else
{
target_velocity = 5;
motor.enable();
Serial.println("Starting motor.. ");
}
}
void setup() {
//motor demo stuff
driver.voltage_power_supply = 3.3;
driver.pwm_frequency = 20000;
driver.voltage_limit = 4;
driver.init();
motor.linkDriver(&driver);
motor.voltage_limit = 4;
motor.controller = MotionControlType::velocity_openloop;
motor.init();
motor.disable();
pinMode(aux1.PIN, INPUT_PULLUP); // Sets pin 14 on the ESP32 as an interrupt
attachInterrupt(aux1.PIN, isr1, FALLING); // Triggers when aux1 is pulled to GND (button pressed)
pinMode(aux2.PIN, INPUT_PULLUP); // Sets pin 13 on the ESP32 as an interrupt
attachInterrupt(aux2.PIN, isr2, FALLING); // Triggers when aux2 is pulled to GND (button pressed)
delay(100);
Serial.begin(115200);
}
/////////////////////////////////////////////////////////////////////////
void loop() {
// Button Press ISR
if(aux1.pressed){
aux1.pressed = false;
}
// Turning motor on and off
if(aux2.pressed){
aux2.pressed = false;
}
// open loop velocity movement
// using motor.voltage_limit and motor.velocity_limit
// Basic motor movement
motor.move(target_velocity);
// user communication
command.run();
delay(5);
}
Running the Motor
By default, the motor should be disabled and spin freely. Users can utilize the user buttons 13 and 14 to control the motor.
- 13 - Starts and stops the motor spin
- 14 - Reverses the direction of the motor's rotation, when it is spinning
Motor Overheating
When the motor is stopped, the motor driver is still enabled. Therefore, current is still running through the stator coils and holding the motor in place. After a few minutes, users may notice that the motor begins to heat up a bit.
If this becomes an issue, users can modify their code to disable the motor driver when the motor stops. This will prevent the motor from heating up, but the motor will spin freely as the motor driver is no longer engaged.
Modification
Modify the sketch and insert motor.disable(); between lines 80 - 81.
DC.ino
/******************************************************************************
IoT Motor Driver Example
Written By:
Madison Chodikov
Eric Orosel
Company: SparkFun Electronics
Date: September 1 2023
This sketch is a stripped down version of the firmware that is preprogrammed
on the IoT Motor Driver. It is based on the open loop, velocity motor control
example from the SimpleFOC Arduino library.
This sketch will spin the motor based on the button inputs:
- Button 13: Starts/Stops the motor rotation
- Button 14: When spinning, switches the direction of rotation
===============================================================================
Products:
IoT Brushless Motor Driver: https://www.sparkfun.com/products/22132
Repository:
https://github.com/sparkfun/SparkFun_IoT_Brushless_Motor_Driver
===============================================================================
SparkFun code, firmware, and software is released under the MIT
License (http://opensource.org/licenses/MIT).
Distributed as-is; no warranty is given.
******************************************************************************/
#include <Wire.h>
#include <SimpleFOC.h> //http://librarymanager/All#Simple%20FOC
//GPIO
#define auxBtn2 13
#define auxBtn1 14
//driver
#define uh16 16
#define ul17 17
#define vh18 18
#define wh19 19
#define vl23 23
#define wl33 33
#define curSense 32
bool state = true;
//motor driver
BLDCMotor motor = BLDCMotor(7);
BLDCDriver6PWM driver = BLDCDriver6PWM(uh16, ul17, vh18, vl23, wh19, wl33, curSense);
float target_velocity = 0.0;
Commander command = Commander(Serial);
void doTarget(char* cmd) { command.scalar(&target_velocity, cmd); }
void doLimit(char* cmd) { command.scalar(&motor.voltage_limit, cmd); }
//////////////////////motor demo stuff///////////////////////////
struct Button{
const uint8_t PIN;
uint32_t numberKeyPresses;
bool pressed;
};
Button aux1 = {auxBtn1, 0, false};
Button aux2 = {auxBtn2, 0, false};
void IRAM_ATTR isr1(){
aux1.pressed = true;
target_velocity = target_velocity*(-1);
Serial.println("Changing directions.. ");
}
void IRAM_ATTR isr2(){
aux2.numberKeyPresses++;
aux2.pressed = true;
if((aux2.numberKeyPresses % 2) == 0)
{
target_velocity = 0;
Serial.println("Stopping motor.. ");
}
else
{
target_velocity = 5;
motor.enable();
Serial.println("Starting motor.. ");
}
}
void setup() {
//motor demo stuff
driver.voltage_power_supply = 3.3;
driver.pwm_frequency = 20000;
driver.voltage_limit = 4;
driver.init();
motor.linkDriver(&driver);
motor.voltage_limit = 4;
motor.controller = MotionControlType::velocity_openloop;
motor.init();
motor.disable();
pinMode(aux1.PIN, INPUT_PULLUP); // Sets pin 14 on the ESP32 as an interrupt
attachInterrupt(aux1.PIN, isr1, FALLING); // Triggers when aux1 is pulled to GND (button pressed)
pinMode(aux2.PIN, INPUT_PULLUP); // Sets pin 13 on the ESP32 as an interrupt
attachInterrupt(aux2.PIN, isr2, FALLING); // Triggers when aux2 is pulled to GND (button pressed)
delay(100);
Serial.begin(115200);
}
/////////////////////////////////////////////////////////////////////////
void loop() {
// Button Press ISR
if(aux1.pressed){
aux1.pressed = false;
}
// Turning motor on and off
if(aux2.pressed){
aux2.pressed = false;
}
// open loop velocity movement
// using motor.voltage_limit and motor.velocity_limit
// Basic motor movement
motor.move(target_velocity);
// user communication
command.run();
delay(5);
}