initial implementation

Author: askuric

src/HybridStepperMotor.cpp

@@ -172,6 +172,17 @@ void HybridStepperMotor::setPhaseVoltage(float Uq, float Ud, float angle_el)
     Ub = Ub + Vo;
     Uc = Vo;
   }
+  
+  // compensate for voltage drop on the driver gate resistance 
+  if(_isset(driver->gate_resistance) && current_sense){
+    // compensate for voltage drop on the driver gate resistance
+    // this is especially important for hybrid steppers
+    PhaseCurrent_s currents = current_sense->getPhaseCurrents();
+    Ua += currents.a * driver->gate_resistance;
+    Ub += currents.b * driver->gate_resistance;
+    Uc += -(currents.a + currents.b) * driver->gate_resistance;
+  }
+
   driver->setPwm(Ua, Ub, Uc);
 
 }

src/common/base_classes/FOCDriver.h

@@ -2,7 +2,7 @@
 #define FOCDRIVER_H
 
 #include "Arduino.h"
-
+#include "../foc_utils.h"
 
 enum PhaseState : uint8_t {
   PHASE_OFF = 0, // both sides of the phase are off
@@ -36,6 +36,9 @@ class FOCDriver{
         float voltage_power_supply; //!< power supply voltage
         float voltage_limit; //!< limiting voltage set to the motor
 
+        // optional but very useful for hybrid stepper motor 
+        float gate_resistance = NOT_SET; //!< phase resistance of the driver 
+
         bool initialized = false; //!< true if driver was successfully initialized
         void* params = 0; //!< pointer to hardware specific parameters of driver