simple foc 移植odriver foc的 anti-cogging（抗齿槽算法）

ESP32 simple foc 移植odriver anti-cogging.

1.硬件，在淘宝买的。esp32 +simple foc(最新). 下电阻三采样。

2. 效果，见视频https://www.bilibili.com/video/BV1xg4y1X7Yr/?vd_source=4fd70d693021f289fb2d339c6c040719

3.代码添加（生成前馈数组，就与补偿齿槽效应的扭矩）

void loop() {
  static int ccc,changed_tar,dis_cc;
  static float tar = 0;

  // iterative setting FOC phase voltage
  motor.loopFOC();

  // iterative function setting the outter loop target
  motor.move();
  
  if (0)
  {

  if (fabs(motor.shaftVelocity())<0.0001 && fabs(motor.shaftAngle()-tar)<0.0003 && ccc>100 && changed_tar)
  {
    char bufcmd1[50];
    if (changed_tar == 1)
    {
      ccc = 0;
      changed_tar = 2;
    }
    else
    {   
      sprintf(bufcmd1,"stop:%f %f %f %f %f",tar*180/3.14159,motor.shaftAngle()*180/3.14159,fabs(motor.shaftAngle()-tar)*180/3.14159,motor.shaftVelocity(),motor.current_sp);
      Serial.println(bufcmd1);

      ccc = 10001;
      changed_tar = 0;
    }
  }
  
    if(ccc++>10000 && changed_tar == 0)
    {
      char bufcmd[50];
      unsigned int buf;
      changed_tar = 1;
      ccc = 0;
      tar +=0.0035;//0.2 degree
      motor.target = tar;

    }
  }
  // monitoring the state variables
//  motor.monitor();   //会影响程序执行速度，与studio交互的配置3共3处

  // user communication
  command.run();
 
}

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补偿位置 ，在BLDCMotor.cpp下的。void BLDCMotor::move(float new_target)

case MotionControlType::velocity:
    	static int ffccc;
		int ttt;
      // velocity set point - sensor precision: this calculation is numerically precise.
      shaft_velocity_sp = target;
      // calculate the torque command
      if (shaft_angle<0)
      {
	  	ind = floor(fmod(-shaft_angle,2*_PI)*286.0f);
      }
      else
      {
      	ind = floor(fmod(shaft_angle,2*_PI)*286.0f);
      }
      ttt = ind;
      if (ind>=1797)ind = 1796;
      if (ind<=0)ind = 0;
      
      current_sp = anti_cogging_map[ind]*anti_cogging_coef+PID_velocity(shaft_velocity_sp - shaft_velocity); // if current/foc_current torque control
		if (ffccc++>20000){
			char buf[40];
			ffccc = 0;
			sprintf(buf,"V:%f %f %f %d %d",target,current_sp,shaft_angle,ttt,torque_controller);
			Serial.println(buf);
		}
      // if torque controlled through voltage control
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基本原理

• 就是每次步进一个很小的角度（我这里是0.2度），选择360度，然后生成一个大的数组，以后在到达的角度固定前馈进去就行了，主要是保存上面的motor.current_sp.存成一个数组就行了。

后续再补充。