Linear Stepper motor driver with simpleFOC

SIMPLE_FOC_stepper_mx1508.ino

// Open loop motor control example 
// Open loop means no positional feedback.
 #include <SimpleFOC.h> //http://librarymanager/All#Simple%20FOC

// Stepper motor & driver instance
//The motor is this thing: 
StepperMotor motor = StepperMotor(10); //18 degrees per step = 20 poles = 10 pole pairs
StepperDriver4PWM driver = StepperDriver4PWM(18,19,5,23);

float outPosition = 500.0; //Position of the end of travel for the linear thingy


//target variable
float target_position = 0.0;

// instantiate the commander - Talk to this with the serial monitor. (Set it to newline only, 115200 baud)
//Commands:
//? -> list options
//T -> [T]arget angle
//L -> voltage [L]imit
//V -> [V]elocity

Commander command = Commander(Serial);
void doTarget(char* cmd) { command.scalar(&target_position, cmd); }
void doLimit(char* cmd) { command.scalar(&motor.voltage_limit, cmd); }
void doVelocity(char* cmd) { command.scalar(&motor.velocity_limit, cmd); }

void setup() {

  // use monitoring with serial 
  Serial.begin(115200);
  // enable more verbose output for debugging
  // comment out if not needed
  SimpleFOCDebug::enable(&Serial);

  // driver config
  // power supply voltage [V]
  driver.voltage_power_supply = 5;
  // 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 = 12; //800ma 12V = 15 ohm = 9.6W - At 5V thats 
  if(!driver.init()){
    Serial.println("Driver init failed!");
    return;
  }
  // 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 = voltage/resistance, so try to be well under 1Amp
  motor.voltage_limit = 12.0;   // [V] seems to work
  // limit/set the velocity of the transition in between 
  // target angles
  motor.velocity_limit = 150.0; // [rad/s] 1400ish rpm seems to work
  // open loop control config
  motor.controller = MotionControlType::angle_openloop;

  // init motor hardware
  if(!motor.init()){
    Serial.println("Motor init failed!");
    return;
  }

  motor.voltage_limit=12.0;


  // add target command T
  command.add('T', doTarget, "target angle");
  command.add('L', doLimit, "voltage limit");
  command.add('V', doVelocity, "movement velocity");

  Serial.println("Motor ready!");
  Serial.println("Set target position [rad]");
  _delay(1000);
}
unsigned long lastTick=0;
float delta=0.1;
void loop() {
  //torque control 
  // should be called as frequently as possible
  motor.loopFOC();
  // open loop angle movements
  // using motor.voltage_limit and motor.velocity_limit
  
  if(millis()-lastTick>8000) 
  {
    //if (target_position < 0.1) {target_position=0; delta = 0.1; Serial.println(target_position);}
    //if (target_position > 100.0) {target_position=100.0; delta = -0.1; Serial.println(target_position);}
    //target_position+=delta;
    if(target_position==0.0) target_position=outPosition;
    else target_position=0.0;
    lastTick=millis();
    Serial.print("Target: ");
    Serial.println(target_position);
  }
  
  // angles can be positive or negative, negative angles correspond to opposite motor direction
  motor.move(target_position);
  
  // user communication
  command.run();
  
}