motion control done

Author: askuric

docs/simplefoc_library/code/communication/index.md

@@ -15,6 +15,9 @@ has_toc: False
 - 📈 Supervision and variable monitoring - [Monitoring](monitoring) 
 - ⚙️ Tunning and Configuration interface - [Commander interface](commander_interface)
 
+[Set up Monitoring](monitoring){: .btn .btn-docs .mr-2}
+[Configure Commander interface](commander_interface){: .btn .btn-docs}
+
 Additionally we will try to provide an implementation of the simplest forms of the communication protocols:
 - [Step-direction interface](step_dir_interface)
 - PWM interface - *not supported yet*

docs/simplefoc_library/code/current_sense/index.md

@@ -72,4 +72,6 @@ Note: current sensing on Renesas MCUs will be added in a future release.
 
 ## Digging deeper
 
-For more theoretical explanations and source code implementations of the current sensing and its integration into the FOC and motion  check out the [digging deeper section](digging_deeper).
+For more theoretical explanations and source code implementations of the current sensing and its integration into the FOC and motion check out the digging deeper section.
+
+[Learn about current sensing theory and implementation](digging_deeper){: .btn .btn-docs}

docs/simplefoc_library/code/drivers/index.md

@@ -24,6 +24,8 @@ Arduino <span class="simple">Simple<span class="foc">FOC</span>library</span> su
     - **4 PWM signals** ( 2 phase )  - `StepperDriver4PWM`
     - **2 PWM signals** ( 2 phase )  - `StepperDriver2PWM`
 
+[Configure BLDC drivers](bldcdriver){: .btn .btn-docs .mr-2}
+[Configure Stepper drivers](stepperdriver){: .btn .btn-docs}
 
 The driver code is written in a way to support as many different drivers out there as possible and in a way to be fully interchangeable. 
 These classes can be used as stand-alone classes and they can be used to set certain PWM value to the driver outputs, see example codes in `utils > driver_standalone_test`.

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

@@ -54,8 +54,8 @@ This angle control loop is therefore created by adding one more control loop in
 
 </div>
 <div class="cascade cascade-n hide" markdown="1">
-<img class="width60 type type-b" src="extras/Images/an_b_i.drawio.png">
- <img class="width60 type type-s hide" src="extras/Images/an_s_i.drawio.png">
+<img class="width60 type type-b" src="extras/Images/an_b_i1.drawio.png">
+ <img class="width60 type type-s hide" src="extras/Images/an_s_i1.drawio.png">
 
 In **No-cascade position control** the angle control loop is closing the loop directly around the torque control loop. This means that the angle controller will be setting the torque target to the torque controller, without using the velocity controller in between.
 

docs/simplefoc_library/code/motion_control/closed_loop_control/angle/angle_nocascade.md

@@ -10,41 +10,22 @@ parent: Motion Control
 grand_parent: Writing the Code
 grand_grand_parent: Arduino <span class="simple">Simple<span class="foc">FOC</span>library</span>
 ---
-# Motion control 
+# Closed loop motion control 
 
 
-Choose the motor type: 
-
 <a href ="javascript:show('b','type');"  class="btn btn-type btn-b btn-primary">BLDC motors</a>
 <a href ="javascript:show('s','type');" class="btn btn-type btn-s"> Stepper motors</a>
 
-Choose the voltage control type: 
-
-<a href ="javascript:show(0,'loop');" id="btn-0" class="btn btn-loop btn-primary">Position control</a>
-<a href ="javascript:show(1,'loop');" id="btn-1" class="btn btn-loop">Velocity control</a>
-<a href ="javascript:show(2,'loop');" id="btn-2" class="btn btn-loop">Torque control</a>
-
-<div class="type type-b">
-<img class="loop loop-0 width80" src="extras/Images/closedloop_0000_Layer 3.jpg"/>
-<img class="loop loop-1 width80 hide" src="extras/Images/closedloop_0001_Layer 2.jpg"/>
-<img  class="loop loop-2 width80 hide" src="extras/Images/closedloop_0002_Layer 1.jpg"/>
-
-</div>
-<div class="type type-s hide">
-
-<img id="4" class="loop width80 loop-0" src="extras/Images/closed_loop_stepper3.jpg"/>
-<img id="5" class="loop width80 loop-1 hide" src="extras/Images/closed_loop_stepper2.jpg"/>
-<img id="6" class="loop width80 loop-2 hide" src="extras/Images/closed_loop_stepper1.jpg"/>
-
-</div>
+<img class="type type-b width60" src="extras/Images/clb.png"/>
+<img class="type type-s width60 hide" src="extras/Images/cls.png"/>
 
+This is the standard motion control approach where the position sensor is used to provide feedback to the motion control loop. The motion control loop (`motor.move()`) will calculate the target torque (current or voltage) to be applied to the motor using the underlying torque/FOC control loop (`motor.loopFOC()`) in order to achieve the desired motion. 
 
 <span class="simple">Simple<span class="foc">FOC</span>library</span> gives you the choice of using 3 different Closed-Loop control strategies: 
 - [Torque control loop](torque_loop)
 - [Velocity motion control](velocity_loop)
 - [Position/angle motion control](angle_loop)
 
-You set it by changing the `motor.controller` variable. If you want to control the motor angle you will set the `controller` to `MotionControlType::angle` or `MotionControlType::angle_nocascade`, if you want to control the torque of the BLDC or Stepper motors either through voltage or the current use `MotionControlType::torque`, if you wish to control motor angular velocity `MotionControlType::velocity`. 
 
 ```cpp
 // set FOC loop to be used
@@ -55,8 +36,38 @@ You set it by changing the `motor.controller` variable. If you want to control t
 motor.controller = MotionControlType::angle;
 ```
 
+
 | Torque control | Velocity control | Position/angle control |
 |----------------|------------------|-----------------------|
 | `MotionControlType::torque` | `MotionControlType::velocity` | `MotionControlType::angle` or<br> `MotionControlType::angle_nocascade` |
 |[Go to Torque control docs](torque_loop){: .btn .mr-2 .btn-docs} | [Go to Velocity control docs](velocity_loop){: .btn .mr-2 .btn-docs} |[Go to Position/angle control docs](angle_loop){: .btn .mr-2 .btn-docs}|
 
+### How it works?
+
+<a href ="javascript:show('b','type');"  class="btn btn-type btn-b btn-primary">BLDC motors</a>
+<a href ="javascript:show('s','type');" class="btn btn-type btn-s"> Stepper motors</a>
+
+Choose the motion control type: 
+
+<a href ="javascript:show('ac','loop');" id="btn-ac" class="btn btn-loop btn-primary">Position control (Cascaded)</a>
+<a href ="javascript:show('an','loop');" id="btn-an" class="btn btn-loop">Position control (Non-Cascaded)</a>
+<a href ="javascript:show('v','loop');" id="btn-v" class="btn btn-loop">Velocity control</a>
+<a href ="javascript:show('t','loop');" id="btn-t" class="btn btn-loop">Torque control</a>
+
+<div class="type type-b">
+<img class="loop loop-ac width80" src="extras/Images/a_b_i.drawio.png"/>
+<img class="loop loop-an width80 hide" src="extras/Images/an_b_i1.drawio.png"/>
+<img class="loop loop-v width80 hide" src="extras/Images/v_b_i.drawio.png"/>
+<img  class="loop loop-t width80 hide" src="extras/Images/t_b_i.drawio.png"/>
+
+</div>
+<div class="type type-s hide">
+
+<img class="loop loop-ac width80" src="extras/Images/a_s_i.drawio.png"/>
+<img class="loop loop-an width80 hide" src="extras/Images/an_s_i1.drawio.png"/>
+<img class="loop loop-v width80 hide" src="extras/Images/v_s_i.drawio.png"/>
+<img  class="loop loop-t width80 hide" src="extras/Images/t_s_i.drawio.png"/>
+
+</div>
+
+