feature: add foc knob

espressif · Dec 28, 2023 · 1d7a23c · 1d7a23c
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diff --git a/components/motor/esp_simplefoc/idf_component.yml b/components/motor/esp_simplefoc/idf_component.yml
@@ -20,3 +20,4 @@ dependencies:
 examples:
   - path: ../../../examples/motor/foc_openloop_control
   - path: ../../../examples/motor/foc_velocity_control
+  - path: ../../../examples/motor/foc_knob_example
diff --git a/examples/motor/foc_knob_example/README.md b/examples/motor/foc_knob_example/README.md
@@ -1,25 +1,21 @@
-| Supported Targets |ESP32-S3 | ESP32-C3 |
-| ----------------- |-------- |----------|
-
-# ESP FOC Knob 
-This example demonstrates the application of the ESP-32S3 microcontroller to control a motor, effectively transforming it into a knob-like interface.
+# ESP FOC Knob
+This example demonstrates the application of the ESP32-S3 microcontroller to control a motor, effectively transforming it into a knob-like interface.
 
 ## Modes supported
 
-| Mode                              | Description                                                |
-|-----------------------------------|------------------------------------------------------------|
-| 0. Fine Value with Detents        | Motor can be unbounded with fine rotation and fine dents points.      |
-| 1. Unbounded, No Detents          | Motor can be unbounded with fine rotation and no dent points.  |
-| 2. Super Dial                     | Motor can be unbound with fine rotation and noticeable dent points.          |
-| 3. Fine Values with Detents, Unbounded | Motor can be unbounded with fine rotation and noticeable dents points.  |
-| 4. Bounded 0-13, No Detents      | Motor will be constrained within a specific range (180-360) with fine rotation and no detent points.  |
-| 5. Coarse Values, Strong Detents  | Motor can be unbounded with coarser rotation and strong dent points.      |
-| 6. Fine Values, No Detents        | Motor will be constrained within a specific range (256, 127), fine rotation, no dent points             |
-| 7. On/Off, Strong Detents         | Motor will be constrained within a specific range presents a On/off functionality with noticeable stopping points.     |
+|            Mode             |                                                    Description                                                     |
+| --------------------------- | ------------------------------------------------------------------------------------------------------------------ |
+| 0. unbound no detents       | Motor can be unbounded with fine rotation and no dent points.                                                      |
+| 1. Unbounded Fine detents   | Motor can be unbounded with fine rotation and fine dent points.                                                    |
+| 2. Unbounded Strong detents | Motor can be unbound with fine rotation and noticeable dent points.                                                |
+| 3. Bounded No detents       | Motor will be constrained within a specific range (0-360) with fine rotation and no detent points.                 |
+| 4. Bounded Fine detents     | Motor can be constrained with coarser rotation and fine dent points.                                               |
+| 5. Bounded Strong detents   | Motor can be constrained with coarser rotation and strong dent points.                                             |
+| 6. On/Off strong detents    | Motor will be constrained within a specific range presents a On/off functionality with noticeable stopping points. |
 
 However, users have the flexibility to adjust mode parameters to attain various responses. Within the following structure, users can modify these values to customize the functionality according to their specific requirements.
 
-```
+```c
 typedef struct {
     int32_t num_positions;        // Number of positions
     int32_t position;             // Current position
@@ -32,10 +28,10 @@ typedef struct {
 
 ```
 
-### Hardware Required 
+### Hardware Required
 This example is specifically designed for ESP32-S3-Motor-LCDkit.
 
-Other components 
+Other components
 1. The BLDC Motor Model 5v 2804 is compatible and can be employed.
 2. A Position Sensor (Hall-based) such as MT6701 or AS5600 is suitable for use.
 
@@ -53,9 +49,11 @@ step2: build the project
 idf.py build
 ```
 
-step 3: Flash and monitor  
+step 3: Flash and monitor
 Flash the program and launch IDF Monitor:
 
 ```bash
 idf.py flash monitor
-```
+```
+
+![FOC Knob exmaple](https://dl.espressif.com/ae/esp-iot-solution/foc_knob.gif)
diff --git a/examples/motor/foc_knob_example/components/foc_knob/Kconfig b/examples/motor/foc_knob_example/components/foc_knob/Kconfig
@@ -0,0 +1,10 @@
+menu "FOC Knob"
+
+    config FOC_KNOB_MAX_VELOCITY
+        int "FOC Knob Max Velocity"
+        range 1 100
+        default 23
+        help
+            When the maximum velocity is smaller, the rebound velocity will also be smaller.
+
+endmenu
diff --git a/examples/motor/foc_knob_example/components/foc_knob/README.md b/examples/motor/foc_knob_example/components/foc_knob/README.md
@@ -1,23 +1,22 @@
-# Component FOC Knob 
+# Component FOC Knob
 The FOC knob is a component that offers an extensive API, empowering the user to define various modes of operation. Users have the flexibility to employ different types of BLDC motors to achieve the desired functionality of a haptic feedback knob.
 
 ## Modes supported
 By default, certain modes are pre-defined in the **foc_knob_default.c** file. Users have the option to leverage these default modes for their applications.
 
-| Mode                              | Description                                                |
-|-----------------------------------|------------------------------------------------------------|
-| 0. Fine Value with Detents        | Motor can be unbounded with fine rotation and fine dents points.      |
-| 1. Unbounded, No Detents          | Motor can be unbounded with fine rotation and no dent points.  |
-| 2. Super Dial                     | Motor can be unbound with fine rotation and noticeable dent points.          |
-| 3. Fine Values with Detents, Unbounded | Motor can be unbounded with fine rotation and noticeable dents points.  |
-| 4. Bounded 0-13, No Detents      | Motor will be constrained within a specific range (180-360) with fine rotation and no detent points.  |
-| 5. Coarse Values, Strong Detents  | Motor can be unbounded with coarser rotation and strong dent points.      |
-| 6. Fine Values, No Detents        | Motor will be constrained within a specific range (256, 127), fine rotation, no dent points             |
-| 7. On/Off, Strong Detents         | Motor will be constrained within a specific range presents a On/off functionality with noticeable stopping points.     |
+|            Mode             |                                                    Description                                                     |
+| --------------------------- | ------------------------------------------------------------------------------------------------------------------ |
+| 0. unbound no detents       | Motor can be unbounded with fine rotation and no dent points.                                                      |
+| 1. Unbounded Fine detents   | Motor can be unbounded with fine rotation and fine dent points.                                                    |
+| 2. Unbounded Strong detents | Motor can be unbound with fine rotation and noticeable dent points.                                                |
+| 3. Bounded No detents       | Motor will be constrained within a specific range (0-360) with fine rotation and no detent points.                 |
+| 4. Bounded Fine detents     | Motor can be constrained with coarser rotation and fine dent points.                                               |
+| 5. Bounded Strong detents   | Motor can be constrained with coarser rotation and strong dent points.                                             |
+| 6. On/Off strong detents    | Motor will be constrained within a specific range presents a On/off functionality with noticeable stopping points. |
 
 However, users have the flexibility to adjust mode parameters to attain various responses. Within the following structure, users can modify these values to customize the functionality according to their specific requirements.
 
-```
+```c
 typedef struct {
     int32_t num_positions;        // Number of positions
     int32_t position;             // Current position
@@ -26,15 +25,15 @@ typedef struct {
     float endstop_strength_unit;  // Strength of detent when reaching the end
     float snap_point;             // Snap point for each position
     const char *descriptor;       // Description
-} knob_param_t;
+} foc_knob_param_t;
 
 ```
-### Hardware Required 
+### Hardware Required
 This example is specifically designed for ESP32-S3-Motor-LCDkit.
 
-Other components 
+Other components
 1. The BLDC Motor Model 5v 2804 is compatible and can be employed.
 2. A Position Sensor (Hall-based) such as MT6701 or AS5600 is suitable for use.
 
-### Example 
+### Example
 [FOC_knob_example](../../../foc_knob_example/)