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remove simple_foc commander and monitor

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This commit is contained in:
Ilya Uraev 2025-05-30 17:14:30 +03:00
parent f1d922bd34
commit d1e918371c
4 changed files with 11 additions and 22 deletions
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16
controller/fw/embed/src/config.cpp
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@ -1,17 +1,9 @@
#include "config.h"
void doMotor(char *cmd) {
command.motor(&motor, cmd);
digitalWrite(PC10, !digitalRead(PC10));
delayMicroseconds(2);
}
void setup_foc(MagneticSensorAS5045 *encoder, BLDCMotor *motor,
DRV8313Driver *driver, LowsideCurrentSense *current_sense,
Commander *commander, CommandCallback callback,FLASH_RECORD* pid_data) {
FLASH_RECORD* pid_data) {
encoder->init(&spi);
/* convert data from flash int value to float*/
@ -38,8 +30,6 @@ void setup_foc(MagneticSensorAS5045 *encoder, BLDCMotor *motor,
motor->linkSensor(encoder);
motor->linkDriver(driver);
motor->linkCurrentSense(current_sense);
motor->useMonitoring(Serial);
motor->monitor_downsample = 5000; // Default monitoring interval
motor->controller = MotionControlType::angle;
motor->torque_controller = TorqueControlType::voltage;
motor->foc_modulation = FOCModulationType::SpaceVectorPWM;
@ -66,7 +56,7 @@ void setup_foc(MagneticSensorAS5045 *encoder, BLDCMotor *motor,
}
void foc_step(BLDCMotor *motor, Commander *commander) {
void foc_step(BLDCMotor *motor) {
if (motor_control_inputs.target_velocity != 0 ||
motor->controller == MotionControlType::velocity) {
if (motor->controller != MotionControlType::velocity) {
@ -82,6 +72,4 @@ void foc_step(BLDCMotor *motor, Commander *commander) {
motor->loopFOC();
motor->move();
motor->monitor();
commander->run();
}