added the debugging in examples

examples/hardware_specific_examples/B_G431B_ESC1/B_G431B_ESC1.ino

@@ -26,6 +26,12 @@ void doTarget(char* cmd) { command.motion(&motor, cmd); }
 
 void setup() {
 
+  // use monitoring with serial 
+  Serial.begin(115200);
+  // enable more verbose output for debugging
+  // comment out if not needed
+  SimpleFOCDebug::enable(&Serial);
+
   // initialize encoder sensor hardware
   encoder.init();
   encoder.enableInterrupts(doA, doB); 
@@ -76,9 +82,6 @@ void setup() {
   //  maximal velocity of the position control
   motor.velocity_limit = 4;
 
-
-  // use monitoring with serial 
-  Serial.begin(115200);
   // comment out if not needed
   motor.useMonitoring(Serial);
 

examples/hardware_specific_examples/Bluepill_examples/encoder/bluepill_position_control/bluepill_position_control.ino

@@ -33,6 +33,12 @@ void doTarget(char* cmd) { command.scalar(&target_angle, cmd); }
 
 void setup() {
 
+  // use monitoring with serial 
+  Serial.begin(115200);
+  // enable more verbose output for debugging
+  // comment out if not needed
+  SimpleFOCDebug::enable(&Serial);
+
   // initialize encoder sensor hardware
   encoder.init();
   encoder.enableInterrupts(doA, doB, doI);
@@ -75,8 +81,6 @@ void setup() {
   motor.velocity_limit = 4;
 
 
-  // use monitoring with serial
-  Serial.begin(115200);
   // comment out if not needed
   motor.useMonitoring(Serial);
 

examples/hardware_specific_examples/Bluepill_examples/magnetic_sensor/bluepill_position_control/bluepill_position_control.ino

@@ -36,6 +36,12 @@ void doTarget(char* cmd) { command.scalar(&target_angle, cmd); }
 
 void setup() {
 
+  // use monitoring with serial 
+  Serial.begin(115200);
+  // enable more verbose output for debugging
+  // comment out if not needed
+  SimpleFOCDebug::enable(&Serial);
+
   // initialise magnetic sensor hardware
   sensor.init();
   // link the motor to the sensor
@@ -72,8 +78,6 @@ void setup() {
   // maximal velocity of the position control
   motor.velocity_limit = 40;
 
-  // use monitoring with serial
-  Serial.begin(115200);
   // comment out if not needed
   motor.useMonitoring(Serial);
 

examples/hardware_specific_examples/DRV8302_driver/3pwm_example/encoder/full_control_serial/full_control_serial.ino

@@ -43,6 +43,12 @@ void onMotor(char* cmd){ command.motor(&motor, cmd); }
 
 void setup() {
 
+  // use monitoring with serial 
+  Serial.begin(115200);
+  // enable more verbose output for debugging
+  // comment out if not needed
+  SimpleFOCDebug::enable(&Serial);
+
   // initialize encoder sensor hardware
   encoder.init();
   encoder.enableInterrupts(doA, doB);
@@ -90,9 +96,6 @@ void setup() {
   // angle loop velocity limit
   motor.velocity_limit = 50;
 
-  // use monitoring with serial for motor init
-  // monitoring port
-  Serial.begin(115200);
   // comment out if not needed
   motor.useMonitoring(Serial);
 

examples/hardware_specific_examples/DRV8302_driver/6pwm_example/encoder/full_control_serial/full_control_serial.ino

@@ -46,6 +46,12 @@ void onMotor(char* cmd){ command.motor(&motor, cmd); }
 
 void setup() {
 
+  // use monitoring with serial 
+  Serial.begin(115200);
+  // enable more verbose output for debugging
+  // comment out if not needed
+  SimpleFOCDebug::enable(&Serial);
+
   // initialize encoder sensor hardware
   encoder.init();
   encoder.enableInterrupts(doA, doB);
@@ -91,9 +97,6 @@ void setup() {
   // angle loop velocity limit
   motor.velocity_limit = 50;
 
-  // use monitoring with serial for motor init
-  // monitoring port
-  Serial.begin(115200);
   // comment out if not needed
   motor.useMonitoring(Serial);
 

examples/hardware_specific_examples/DRV8302_driver/esp32_current_control_low_side/esp32_current_control_low_side.ino

@@ -51,6 +51,12 @@ void onMotor(char* cmd){ command.motor(&motor, cmd); }
 
 void setup() {
 
+  // use monitoring with serial 
+  Serial.begin(115200);
+  // enable more verbose output for debugging
+  // comment out if not needed
+  SimpleFOCDebug::enable(&Serial);
+
   // initialize encoder sensor hardware
   encoder.init();
   encoder.enableInterrupts(doA, doB);
@@ -115,10 +121,6 @@ void setup() {
   motor.voltage_limit = 12.0;   // 12 Volt limit 
   motor.current_limit = 2.0;    // 2 Amp current limit
 
-
-  // use monitoring with serial for motor init
-  // monitoring port
-  Serial.begin(115200);
   // comment out if not needed
   motor.useMonitoring(Serial);
   motor.monitor_variables = _MON_CURR_Q | _MON_CURR_D; // monitor the two currents d and q

examples/hardware_specific_examples/DRV8302_driver/stm32_current_control_low_side/stm32_current_control_low_side.ino

@@ -51,6 +51,12 @@ void onMotor(char* cmd){ command.motor(&motor, cmd); }
 
 void setup() {
 
+  // use monitoring with serial 
+  Serial.begin(115200);
+  // enable more verbose output for debugging
+  // comment out if not needed
+  SimpleFOCDebug::enable(&Serial);
+
   // initialize encoder sensor hardware
   encoder.init();
   encoder.enableInterrupts(doA, doB);
@@ -115,10 +121,6 @@ void setup() {
   motor.voltage_limit = 12.0;   // 12 Volt limit 
   motor.current_limit = 2.0;    // 2 Amp current limit
 
-
-  // use monitoring with serial for motor init
-  // monitoring port
-  Serial.begin(115200);
   // comment out if not needed
   motor.useMonitoring(Serial);
   motor.monitor_variables = _MON_CURR_Q | _MON_CURR_D; // monitor the two currents d and q

examples/hardware_specific_examples/DRV8302_driver/teensy4_current_control_low_side/teensy4_current_control_low_side.ino

@@ -54,6 +54,12 @@ void onMotor(char* cmd){ command.motor(&motor, cmd); }
 
 void setup() {
 
+  // use monitoring with serial 
+  Serial.begin(115200);
+  // enable more verbose output for debugging
+  // comment out if not needed
+  SimpleFOCDebug::enable(&Serial);
+
   // initialize encoder sensor hardware
   encoder.init();
   encoder.enableInterrupts(doA, doB);
@@ -116,10 +122,6 @@ void setup() {
   motor.voltage_limit = 12.0;   // 12 Volt limit 
   motor.current_limit = 2.0;    // 2 Amp current limit
 
-
-  // use monitoring with serial for motor init
-  // monitoring port
-  Serial.begin(115200);
   // comment out if not needed
   motor.useMonitoring(Serial);
   motor.monitor_variables = _MON_CURR_Q | _MON_CURR_D; // monitor the two currents d and q

examples/hardware_specific_examples/ESP32/encoder/esp32_position_control/esp32_position_control.ino

@@ -24,6 +24,12 @@ void doTarget(char* cmd) { command.scalar(&target_angle, cmd); }
 
 void setup() {
 
+  // use monitoring with serial 
+  Serial.begin(115200);
+  // enable more verbose output for debugging
+  // comment out if not needed
+  SimpleFOCDebug::enable(&Serial);
+
   // initialize encoder sensor hardware
   encoder.init();
   encoder.enableInterrupts(doA, doB);
@@ -66,9 +72,6 @@ void setup() {
   //  maximal velocity of the position control
   motor.velocity_limit = 4;
 
-
-  // use monitoring with serial
-  Serial.begin(115200);
   // comment out if not needed
   motor.useMonitoring(Serial);
 

examples/hardware_specific_examples/ESP32/magnetic_sensor/esp32_position_control/esp32_position_control.ino

@@ -33,6 +33,12 @@ void doTarget(char* cmd) { command.scalar(&target_angle, cmd); }
 
 void setup() {
 
+  // use monitoring with serial 
+  Serial.begin(115200);
+  // enable more verbose output for debugging
+  // comment out if not needed
+  SimpleFOCDebug::enable(&Serial);
+
   // initialise magnetic sensor hardware
   sensor.init();
   // link the motor to the sensor
@@ -69,8 +75,6 @@ void setup() {
   // maximal velocity of the position control
   motor.velocity_limit = 40;
 
-  // use monitoring with serial
-  Serial.begin(115200);
   // comment out if not needed
   motor.useMonitoring(Serial);
 

examples/hardware_specific_examples/HMBGC_example/position_control/position_control.ino

@@ -42,6 +42,9 @@ void doTarget(char* cmd) { command.scalar(&target_angle, cmd); }
 
 void setup() {
 
+  // use monitoring with serial 
+  Serial.begin(115200);
+
   // initialise encoder hardware
   encoder.init();
   // interrupt initialization
@@ -85,9 +88,6 @@ void setup() {
   //  maximal velocity of the position control
   motor.velocity_limit = 4;
 
-
-  // use monitoring with serial
-  Serial.begin(115200);
   // comment out if not needed
   motor.useMonitoring(Serial);
 

examples/hardware_specific_examples/Odrive_examples/odrive_example_encoder/odrive_example_encoder.ino

@@ -70,6 +70,12 @@ void doI(){encoder.handleIndex();}
 
 void setup(){
 
+  // use monitoring with serial 
+  Serial.begin(115200);
+  // enable more verbose output for debugging
+  // comment out if not needed
+  SimpleFOCDebug::enable(&Serial);
+
   // pwm frequency to be used [Hz]
   driver.pwm_frequency = 20000;
   // power supply voltage [V]
@@ -96,8 +102,6 @@ void setup(){
   // alignment voltage limit
   motor.voltage_sensor_align = 0.5;
 
-
-  Serial.begin(115200);
   // comment out if not needed
   motor.useMonitoring(Serial);
   motor.monitor_variables = _MON_CURR_Q | _MON_CURR_D;

examples/hardware_specific_examples/Odrive_examples/odrive_example_spi/odrive_example_spi.ino

@@ -69,6 +69,12 @@ SPIClass SPI_3(SPI3_MOSO, SPI3_MISO, SPI3_SCL);
 
 void setup(){
 
+  // use monitoring with serial 
+  Serial.begin(115200);
+  // enable more verbose output for debugging
+  // comment out if not needed
+  SimpleFOCDebug::enable(&Serial);
+
   // pwm frequency to be used [Hz]
   driver.pwm_frequency = 20000;
   // power supply voltage [V]
@@ -94,8 +100,6 @@ void setup(){
   // alignment voltage limit
   motor.voltage_sensor_align = 0.5;
 
-
-  Serial.begin(115200);
   // comment out if not needed
   motor.useMonitoring(Serial);
   motor.monitor_variables = _MON_CURR_Q | _MON_CURR_D;

examples/hardware_specific_examples/SAMD_examples/nano33IoT/nano33IoT_velocity_control/nano33IoT_velocity_control.ino

@@ -23,7 +23,12 @@ void doTarget(char* cmd) { command.scalar(&target_velocity, cmd); }
 
 
 void setup() {
+  // use monitoring with serial 
 	Serial.begin(115200);
+	// enable more verbose output for debugging
+	// comment out if not needed
+	SimpleFOCDebug::enable(&Serial);
+
 	delay(1000);
 	Serial.println("Initializing...");
 

examples/hardware_specific_examples/SimpleFOC-PowerShield/version_v02/single_full_control_example/single_full_control_example.ino

@@ -21,6 +21,12 @@ void doTarget(char* cmd){ command.scalar(&motor.target, cmd); }
 
 void setup() {
 
+  // use monitoring with serial 
+  Serial.begin(115200);
+  // enable more verbose output for debugging
+  // comment out if not needed
+  SimpleFOCDebug::enable(&Serial);
+
   // initialize encoder sensor hardware
   encoder.init();
   encoder.enableInterrupts(doA, doB);
@@ -56,9 +62,6 @@ void setup() {
   // angle loop velocity limit
   motor.velocity_limit = 20;
 
-  // use monitoring with serial for motor init
-  // monitoring port
-  Serial.begin(115200);
   // comment out if not needed
   motor.useMonitoring(Serial);
   motor.monitor_downsample = 0; // disable intially

examples/hardware_specific_examples/SimpleFOCMini/angle_control/angle_control.ino

@@ -38,6 +38,12 @@ Commander command = Commander(Serial);
 void doMotor(char* cmd) { command.motor(&motor, cmd); }
 
 void setup() {
+  // use monitoring with serial 
+  Serial.begin(115200);
+  // enable more verbose output for debugging
+  // comment out if not needed
+  SimpleFOCDebug::enable(&Serial);
+
   // if SimpleFOCMini is stacked in arduino headers
   // on pins 12,11,10,9,8 
   // pin 12 is used as ground
@@ -84,9 +90,6 @@ void setup() {
   //  maximal velocity of the position control
   motor.velocity_limit = 4;
 
-
-  // use monitoring with serial
-  Serial.begin(115200);
   // comment out if not needed
   motor.useMonitoring(Serial);
 

examples/hardware_specific_examples/SimpleFOCShield/version_v1/double_full_control_example/double_full_control_example.ino

@@ -28,6 +28,12 @@ void doMotor2(char* cmd){ command.motor(&motor2, cmd); }
 
 void setup() {
 
+  // use monitoring with serial 
+  Serial.begin(115200);
+  // enable more verbose output for debugging
+  // comment out if not needed
+  SimpleFOCDebug::enable(&Serial);
+
   // initialize encoder sensor hardware
   encoder1.init();
   encoder1.enableInterrupts(doA1, doB1);
@@ -72,9 +78,6 @@ void setup() {
   motor1.velocity_limit = 20;
   motor2.velocity_limit = 20;
 
-  // use monitoring with serial for motor init
-  // monitoring port
-  Serial.begin(115200);
   // comment out if not needed
   motor1.useMonitoring(Serial);
   motor2.useMonitoring(Serial);

examples/hardware_specific_examples/SimpleFOCShield/version_v1/single_full_control_example/single_full_control_example.ino

@@ -17,6 +17,12 @@ void doMotor(char* cmd){ command.motor(&motor, cmd); }
 
 void setup() {
 
+  // use monitoring with serial 
+  Serial.begin(115200);
+  // enable more verbose output for debugging
+  // comment out if not needed
+  SimpleFOCDebug::enable(&Serial);
+
   // initialize encoder sensor hardware
   encoder.init();
   encoder.enableInterrupts(doA, doB);
@@ -48,9 +54,6 @@ void setup() {
   // angle loop velocity limit
   motor.velocity_limit = 20;
 
-  // use monitoring with serial for motor init
-  // monitoring port
-  Serial.begin(115200);
   // comment out if not needed
   motor.useMonitoring(Serial);
   motor.monitor_downsample = 0; // disable intially