Add 60deg setting for hall sensors

[Moddingear]

I have a 60deg hall sensor motor, it didn't work. This fixes that.

[runger1101001]

Thank you for contributing this! I'm about to do a release, so I will merge this to the dev branch immediately afterwards so people can test it out. Then it would be part of the following release.

[Moddingear]

Don't merge this just yet, i've got an idea for an algorithm that can find the correct electrical sectors regardless of the connections and the electrical setup.

[Moddingear]

Ok now it's mergeable.

By default it will act like a 120deg sensor until it sees that it's not, in which case it will switch the polarity of one line.

After two rotations, if it's a 120 deg config, it will stop detecting.

Here's a python file simulating the algorithm as well:

import random import matplotlib.pyplot as plt sine_six_step = [0,0,0,1,1,1] def rotate(l, n): return l[n:] + l[:n] def gen_hall(): hall_120 = not bool(random.randint(0,3)) and False print(f"{hall_120=}") sectors = [] #create hall sensor readings, either 120 deg out of phase, or 60 deg for i in range(3): sectors.append(rotate(sine_six_step, i*2 if hall_120 else i)) #shuffle hall connections random.shuffle(sectors) states = [] truth = [] #random starting point, move randomly read_pos = random.randint(0,5) for i in range(30): shift = random.randint(-1,1) read_pos = read_pos + shift #print(f"{i=} {shift=} {read_pos=}") state = 0 for j in range(3): state += sectors[j][read_pos%6] << j states.append(state) truth.append(read_pos*60) return (states, truth) def plot_stacked_arrays(array_of_arrays, labels=None): num_arrays = len(array_of_arrays) pos = [i*60 for i in range(len(array_of_arrays[0]))] # Create subplots fig, axs = plt.subplots(num_arrays, 1, figsize=(8, 2 * num_arrays), sharex=True) for i, data in enumerate(array_of_arrays): axs[i].step(pos, data, where='post', label=labels[i]) axs[i].set_ylabel(labels[i]) axs[i].grid(True) axs[i].legend() axs[-1].set_xlabel('Angle') # Label x-axis only for the last subplot plt.tight_layout() plt.show() def get_num_discovered_sectors(ELECTRIC_SECTORS): discovered_sectors = 0 for sector in ELECTRIC_SECTORS: if sector != -1: discovered_sectors +=1 return discovered_sectors def recompose_sectors(ELECTRIC_SECTORS): print(f"{ELECTRIC_SECTORS=}") names = ["120deg hall", "60deg hall A", "60deg hall B", "60deg hall C"] for i in range(4): if ELECTRIC_SECTORS[i] == -1 and ELECTRIC_SECTORS[7-i] == -1: print(names[i]) phases = [0]*3 if i == 0: roll = 1 phases[0] = 0+roll phases[1] = 2+roll phases[2] = 4+roll else: #When i==1, hall A is in the middle, phase[0] = 1 roll = 3 phases[(i+2)%3] = 1+roll #middle hall phases[i%3] = 2+roll # phases[(i+1)%3] = 0+roll # print(f"{phases=}") for j in range(6): state = 0 for k in range(3): state += 1<<k if (phases[k]+j)%6 < 3 else 0 print(f"{j=} {state=}") ELECTRIC_SECTORS[state] = j break else: print("Wtf is that hall?!") print(f"Recomposed {ELECTRIC_SECTORS=}") def extract_angle(states, ELECTRIC_SECTORS): sector_prev = -1 direction = 1 rotations = 0 discovered_sectors = get_num_discovered_sectors(ELECTRIC_SECTORS) angles = [] for state in states: new_electric_sector = ELECTRIC_SECTORS[state] #calibration phase, build the sector map if new_electric_sector == -1 and discovered_sectors <6: ELECTRIC_SECTORS[state] = (sector_prev + direction) % 6 new_electric_sector = ELECTRIC_SECTORS[state] discovered_sectors +=1 print(f"Set sector {state} to {new_electric_sector} ({discovered_sectors}/6)") if discovered_sectors == 6: recompose_sectors(ELECTRIC_SECTORS) print(f"Before {new_electric_sector}, after {ELECTRIC_SECTORS[state]}") #repeat of previous, regular sector to angle code if new_electric_sector == sector_prev: angles.append(angles[-1]) continue electric_sector_diff = new_electric_sector-sector_prev if electric_sector_diff > 3: direction = -1 rotations += direction elif electric_sector_diff < -3: direction = 1 rotations += direction else: direction = 1 if (new_electric_sector > sector_prev) else -1 sector_prev = new_electric_sector angles.append((rotations*6+new_electric_sector)*60) return angles def extract_angle2(states): ELECTRIC_SECTORS = [-1, 0, 4, 5, 2, 1, 3 , -1] state1, state2 = (-1,-1) sector_prev = -1 direction = 1 rotations = 0 flipbit = 0 angles = [] for state in states: state = state ^ flipbit if state == state1: angles.append(angles[-1] if len(angles) > 0 else 0) continue if (state1 == 0 or state1 == 7) and state2 != -1: if state != state2: flipbit = (7 - state ^ state2) % 8 print(f"{state=} {state1=} {state2=} {bin(flipbit)=}") state = state ^ flipbit state2, state1 = (state1, state) new_electric_sector = ELECTRIC_SECTORS[state] electric_sector_diff = new_electric_sector-sector_prev if electric_sector_diff > 3: direction = -1 rotations += direction elif electric_sector_diff < -3: direction = 1 rotations += direction else: direction = 1 if (new_electric_sector > sector_prev) else -1 sector_prev = new_electric_sector angles.append((rotations*6+new_electric_sector)*60) return angles states, truth = gen_hall() ELECTRIC_SECTORS = [-1]*8 angles = extract_angle2(states) plot_stacked_arrays([truth, states, angles], ["Truth", "States", "Angle"])```

[Moddingear]

Moving to Drivers repo