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feat: initial commit modified from bldc_haptics example
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‎.clang-format‎

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‎.gitignore‎

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*.exe
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*.out
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*.app
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build/
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sdkconfig
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sdkconfig.old

‎.gitmodules‎

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[submodule "components/espp"]
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path = components/espp
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url = [email protected]:esp-cpp/espp

‎.pre-commit-config.yaml‎

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repos:
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- repo: https://github.com/pre-commit/mirrors-clang-format
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rev: v14.0.6
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hooks:
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- id: clang-format
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exclude: |
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(?x)(
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^components/esp-dsp/|
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^components/esp_littlefs/|
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^components/lvgl/|
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^components/state_machine/include/magic_enum.hpp|
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^external/alpaca/|
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^external/cli/|
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^external/csv2/|
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)
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types_or: [c++, c]

‎CMakeLists.txt‎

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# The following lines of boilerplate have to be in your project's CMakeLists
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# in this exact order for cmake to work correctly
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cmake_minimum_required(VERSION 3.5)
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include($ENV{IDF_PATH}/tools/cmake/project.cmake)
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# add the component directories that we want to use
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set(EXTRA_COMPONENT_DIRS
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"components/"
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"components/espp/components/"
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)
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set(
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COMPONENTS
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"main esptool_py filters task monitor mt6701 bldc_motor bldc_driver bldc_haptics"
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CACHE STRING
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"List of components to include"
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)
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project(bldc_test_stand)
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set(CMAKE_CXX_STANDARD 20)

‎README.md‎

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# bldc_test_stand
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Test stand (MCAD + code) for running a little gimbal BLDC
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# BLDC Motor Test Stand
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This project contains the MCAD and source files for a BLDC motor test stand,
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designed to enable running various experiments in openloop control, closed loop
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control, and user interface / haptics using a small BLDC motor that's commonly
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used in camera gimbals.
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## Hardware
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* TinyS3
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* BLDC Motor (I used [these A and B motors](https://www.aliexpress.us/item/3256802907900422.html) from aliexpress)
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* MT6701 Magnetic Encoder Breakout (I used [this purple one (color B)](https://www.aliexpress.us/item/3256804851103272.html) from aliexpress)
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* TMC6300 BOB
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* Mini solderless breadboard
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* 3d printed test stand enclosure (.stl and source files in the [mcad](./mcad) directory)
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* Benchtop power supply (currently running at 5V 1A so many things should work)
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:warning:
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> NOTE: you MUST make sure that you run this code with the
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> `zero_electrical_offset` value set to 0 (or not provided) at least once
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> otherwise the sample will not work and could potentially damage your motor.
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### Build and Flash
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Build the project and flash it to the board, then run monitor tool to view serial output:
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```
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idf.py -p PORT flash monitor
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```
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(Replace PORT with the name of the serial port to use.)
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(To exit the serial monitor, type ``Ctrl-]``.)
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See the Getting Started Guide for full steps to configure and use ESP-IDF to build projects.
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## Output
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This code can be re-run (by modifying the code to change the selected
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`DetentConfig` from one of the predefined configurations or by making your own)
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to produce various behaviors. Additionally, at the end of each demo, it will
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play a haptic buzz / click using the motor.
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For more information, see the documentation or the original PR:
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https://github.com/esp-cpp/espp/pull/60
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Some examples:
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### coarse values strong detents (best with sound)
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https://github.com/esp-cpp/espp/assets/213467/a256b401-6e45-4284-89c7-2dec9a49daa7
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### magnetic detents (best with sound)
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https://github.com/esp-cpp/espp/assets/213467/ab1ace5c-f967-4cfc-b304-7736fdb35bcb
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### On / Off Strong Detents (best with sound)
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https://github.com/esp-cpp/espp/assets/213467/038d79b1-7cd9-4af9-b7e8-1b4daf6a363a
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### Multi-rev no detents
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https://github.com/esp-cpp/espp/assets/213467/2af81edb-67b8-488b-ae7a-3549be36b8cc
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## Troubleshooting
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Make sure to run the code once with `zero_electrical_offset` set to 0 so that
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the motor will go through a calibration / zero offset routine. At the end of
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this startup routine it will print the measured zero electrical offset that you
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can then provide within the code, at which point it will not need to run the
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calibration routine.
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You must run this calibration any time you change your hardware configuration
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(such as by remounting your motor, magnet, encoder chip).
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## Code Breakdown
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This example is relatively complex, but builds complex haptic behavior using the
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following components:
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* `espp::Mt6701`
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* `espp::BldcDriver`
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* `espp::BldcMotor`
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* `espp::BldcHaptics`
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* ESP-IDF's `i2c` peripheral driver
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You combine the `Mt6701` and `BldcDriver` together when creating the `BldcMotor`
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and then simply pass the `BldcMotor` to the `BldcHaptics` component. At that
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point, you only have to interface to the `BldcHaptics` to read the input
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position or reconfigure the haptics.

‎components/espp‎

Submodule espp added at de01b1f

‎main/CMakeLists.txt‎

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idf_component_register(SRC_DIRS "."
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INCLUDE_DIRS ".")

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