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