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‎docs/simplefoc_library/code/current_sense/index.md‎

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@@ -48,12 +48,12 @@ MCU | In-line | Low-side | High-side
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Arduino (8-bit) | ✔️ | ❌ | ❌
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Arduino DUE | ✔️ | ❌ | ❌
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stm32 (in general) | ✔️ | ❌ | ❌
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stm32f1 family | ✔️ | ✔️ (one motor) | ❌
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stm32f4 family | ✔️ | ✔️ (one motor) | ❌
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stm32g4 family | ✔️ | ✔️ (one motor) | ❌
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stm32l4 family | ✔️ | ✔️ (one motor) | ❌
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stm32f7 family | ✔️ | ✔️ (one motor) | ❌
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stm32h7 family | ✔️ | ✔️ (one motor) | ❌
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stm32f1 family | ✔️ | ✔️ | ❌
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stm32f4 family | ✔️ | ✔️ | ❌
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stm32g4 family | ✔️ | ✔️ | ❌
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stm32l4 family | ✔️ | ✔️ | ❌
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stm32f7 family | ✔️ | ✔️ | ❌
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stm32h7 family | ✔️ | ✔️ | ❌
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stm32 B_G431B_ESC1 | ❌ | ✔️ (one motor) | ❌
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esp32/esp32s3 | ✔️ | ✔️ | ❌
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esp32s2/esp32c3 | ✔️ | ❌ | ❌
@@ -66,6 +66,7 @@ Raspberry Pi Pico | ✔️ | ❌ | ❌
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Portenta H7 | ✔️ | ❌ | ❌
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nRF52 | ✔️ | ❌ | ❌
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Renesas (UNO R4) | ❌ | ❌ | ❌
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Arduino Nano Matter(📢NEW) | ✔️ | ✔️ (one motor) | ✔️ (not tested)
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Note: current sensing on Renesas MCUs will be added in a future release.
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‎docs/simplefoc_library/code/current_sense/inline.md‎

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Raspberry Pi Pico | ✔️
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Portenta H7 | ✔️
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Renesas (UNO R4) | ❌ (TBD)
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Arduino Nano Matter(📢NEW) | ✔️
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@@ -59,7 +60,7 @@ To instantiate the inline current sensor using the <span class="simple">Simple<s
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// - phA - A phase adc pin
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// - phB - B phase adc pin
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// - phC - C phase adc pin (optional)
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InlineCurrentSense current_sense = InlineCurrentSense(0.01, 20, A0, A1, A2);
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InlineCurrentSense current_sense = InlineCurrentSense(0.01f, 20.0f, A0, A1, A2);
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```
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This class takes as a parameter either shunt resistance value `shunt_resistor`, amplification gain `gain` and two or three ADC channel pins depending on the available measuring hardware that you might have. It is important to specify right adc channels for right driver/motor phase. So if your pin `A0` measures the phase current `A` and pin `A1` measures the phase current `B` make sure to provide them to the constructor in that order.
@@ -75,7 +76,7 @@ Alternatively `InlineCurrentSense` can be created by specifying the mV per Amp r
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// - phA - A phase adc pin
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// - phB - B phase adc pin
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// - phC - C phase adc pin (optional)
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InlineCurrentSense current_sense = InlineCurrentSense(66.0, A0, A1, A2);
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InlineCurrentSense current_sense = InlineCurrentSense(66.0f, A0, A1, A2);
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```
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### Measuring 2 out of 3 currents

‎docs/simplefoc_library/code/current_sense/low_side.md‎

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Arduino (8-bit) | ❌ | - | -| -
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Arduino DUE | ❌ | - | -| -
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STM32 (in general) |❌ | - | -| -
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STM32f1 family | ✔️ (one motor) | DMA | ~20kHz| all
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STM32f4 family | ✔️ (one motor) | DMA| ~25kHz| all
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STM32g4 family | ✔️ (one motor) | DMA| ~25kHz| all
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STM32l4 family | ✔️ (one motor) | DMA| ~25kHz| all
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STM32f7 family | ✔️ (one motor) | DMA| ~25kHz | all
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STM32h7 family | ✔️ (one motor) | DMA| ~25kHz | all
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STM32f1 family | ✔️ | Interrupt | ~20kHz| all
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STM32f4 family | ✔️ | Interrupt| ~25kHz| all
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STM32g4 family | ✔️ | Interrupt| ~25kHz| all
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STM32l4 family | ✔️ | Interrupt| ~25kHz| all
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STM32f7 family | ✔️ | Interrupt| ~25kHz | all
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STM32h7 family | ✔️ | Interrupt| ~25kHz | all
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STM32 B_G431B_ESC1 | ✔️ | DMA| ~25kHz| all
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ESP32 with MCPWM |✔️ | Interrupts| ~20kHz| all
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ESP32 with LEDC | ❌ | -| -| -
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ESP8266 | ❌ | -| -| -
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SAMD21 | ✔️/❌ (one motor, poorly tested) | Interrupts | ?| ?
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SAMD21 | ✔️ (one motor) | Interrupts | ~20kHz| one ADC
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SAMD51 | ❌ | -| -| -
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Teensy3 | ❌| -| -| -
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Teensy4 | ✔️ (inital)| Interrupts| ~20kHz| ADC1
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Raspberry Pi Pico | ❌ | -| -
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Portenta H7 | ❌ | -| -| -
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Renesas (UNO R4) | ❌ (TBD) | -| -| -
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Arduino Nano Matter(📢NEW) | ✔️(one motor) | DMA | N/A | ADC0
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### Important hardware considerations
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// - phA - A phase adc pin
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// - phB - B phase adc pin
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// - phC - C phase adc pin (optional)
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LowsideCurrentSense current_sense = LowsideCurrentSense(0.01, 20, A0, A1, A2);
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LowsideCurrentSense current_sense = LowsideCurrentSense(0.01f, 20.0f, A0, A1, A2);
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```
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</div>
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<div class="type type-stepper hide" markdown="1">
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// - gain - current-sense op-amp gain
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// - phA - A phase adc pin
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// - phB - B phase adc pin
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LowsideCurrentSense current_sense = LowsideCurrentSense(0.01, 20, A0, A1);
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LowsideCurrentSense current_sense = LowsideCurrentSense(0.01f, 20.0f, A0, A1);
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```
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</div>
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// - mVpA - mV per Amp ratio
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// - phA - A phase adc pin
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// - phB - B phase adc pin
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LowsideCurrentSense current_sense = LowsideCurrentSense(66.0, A0, A1);
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LowsideCurrentSense current_sense = LowsideCurrentSense(66.0f, A0, A1);
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```
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</div>
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<div class="type type-bldc" markdown="1">
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// - phA - A phase adc pin
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// - phB - B phase adc pin
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// - phC - C phase adc pin (optional)
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LowsideCurrentSense current_sense = LowsideCurrentSense(66.0, A0, A1, A2);
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LowsideCurrentSense current_sense = LowsideCurrentSense(66.0f, A0, A1, A2);
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```
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### Measuring 2 out of 3 currents

‎docs/simplefoc_library/code/drivers/index.md‎

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Portenta H7 | ✔️ | ✔️ | ✔️ | ❌ | ✔️
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Renesas (UNO R4 Minima) | ✔️ | ✔️ | ✔️ | ✔️ | ✔️
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nRF52 |✔️ | ✔️ | ✔️ | ✔️ | ✔️
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Arduino Nano Matter (📢NEW) | ✔️ | ✔️ | ✔️ | ✔️ | ✔️
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<blockquote class="info"> 📢 Here is a quick guide to choosing appropriate PWM pins for different MCU architectures <a href="choosing_pwm_pins">see in docs</a>.</blockquote>

docs/simplefoc_library/code/motion_control/closed_loop_control/angle.md renamed to docs/simplefoc_library/code/motion_control/closed_loop_control/angle/angle.md

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---
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layout: default
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title: Position Control
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title: Cascade Position Control
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description: "Arduino Simple Field Oriented Control (FOC) library ."
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nav_order: 3
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permalink: /angle_loop
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parent: Closed-Loop control
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grand_parent: Motion Control
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grand_grand_parent: Writing the Code
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grand_grand_grand_parent: Arduino <span class="simple">Simple<span class="foc">FOC</span>library</span>
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nav_order: 1
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permalink: /angle_cascade_control
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parent: Position Control
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grand_parent: Closed-Loop control
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grand_grand_parent: Motion Control
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grand_grand_grand_parent: Writing the Code
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grand_grand_grand_grand_parent: Arduino <span class="simple">Simple<span class="foc">FOC</span>library</span>
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toc: true
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---
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# Position control loop
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# Cascade position control loop
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This control loop allows you to move your motor to the desired angle in real-time. This mode is enabled by:
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```cpp
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// set angle/position motion control loop
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The angle/position control closes the control loop around the velocity control loop. And the velocity control closes the control loop around the torque control, regardless which one it is. If it is the voltage mode without phase resistance set, the velocity motion control will set the the torque command using the voltage <i>U<sub>q</sub></i>:
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<div class="type type-b">
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<img class="width60" src="extras/Images/angle_loop_v.png">
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<img class="width60" src="extras/Images/a_b_v.drawio.png">
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</div>
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<div class="type type-s hide">
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<img class="width60" src="extras/Images/angle_loop_stepper_volt.png">
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<img class="width60" src="extras/Images/a_s_v.drawio.png">
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</div>
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And if it is any of the current torque control modes (FOC or DC current) or voltage mode with provided phase resistance, the angle motion control will be setting the target current <i>i<sub>q</sub></i> to the torque controller:
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<div class="type type-b">
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<img class="width60" src="extras/Images/angle_loop_i.png">
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<img class="width60" src="extras/Images/a_b_i.drawio.png">
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</div>
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<div class="type type-s hide">
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<img class="width60" src="extras/Images/angle_loop_stepper_curr.png">
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<img class="width60" src="extras/Images/a_s_i.drawio.png">
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</div>
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The angle control loop is therefore created by adding one more control loop in cascade on the [velocity control loop](velocity_loop) like showed on the figure above. The loop is closed by using additional PID controller and an optional low pass filter. The controller reads the angle <i>a</i> from the motor (filters is optionally) and determines which velocity <i>v<sub>d</sub></i> the motor should move to reach the desired angle <i>a<sub>d</sub></i> set by the user. And then the velocity controller reads the current filtered velocity from the motor <i>v<sub>f</sub></i> and sets the torque target (<i>u<sub>q</sub></i> voltage or <i>i<sub>q</sub></i> current) to the torque control loop, needed to reach the velocity <i>v<sub>d</sub></i>, set by the angle loop.

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