Diff: main.cpp

Revision:

4:97d107efa17e

Parent:

3:95a3a1fbc807

Child:

6:d6e4872d38fe

--- a/main.cpp	Thu Jun 25 17:52:14 2020 +0000
+++ b/main.cpp	Wed Oct 28 13:02:18 2020 +0000
@@ -1,78 +1,113 @@
 #include "mbed.h"
-#include "L6230_BLDC.h"
-#include "reScale.h"
+
+//---Pinos de enable dos braços----
+DigitalOut enable_ch1(PC_10);
+DigitalOut enable_ch2(PC_11);
+DigitalOut enable_ch3(PC_12);
 
-L6230_BLDC motor(PC_10, PC_11, PC_12, PA_8, PA_9, PA_10);
+//---Pinos de canais dos braços----
+PwmOut in_ch1(PA_8);
+PwmOut in_ch2(PA_9);
+PwmOut in_ch3(PA_10);
 
-AnalogIn feedback_phase_A(PA_0);
-AnalogIn feedback_phase_B(PC_1);
-AnalogIn feedback_phase_C(PC_0);
-
+//---Pino de ADC da X-NUCLEO ----
 AnalogIn pot(PB_1);
 
+//---Pino do led da NUCLEO----
 DigitalOut myled(LED1);
 
+//---Pino do butao da NUCLEO----
 DigitalIn sw(PC_13);
 
+//---Pinos do serial-USB da NUCLEO----
 Serial pc(USBTX, USBRX);
 
-reScale _scale(0, 4095, 800, 5000); 
-
-float read_current(char);
-
-int prevStep;
+//---Prototipo das Funções----
+void motor_start(float SPEED, unsigned int MOTOR);
+void motor_stop(unsigned int MOTOR);
 
-long speed;
-long adc;
-
-bool start = 0;
-
+//---Programa principal-------
 int main() 
 {
+    //---Configura o periodo do PWM----
+    in_ch1.period_ms(1);
+    in_ch2.period_ms(1);
+    in_ch3.period_ms(1);
+    
+    //---Inicia o PWM com 0% de duty-cicle----
+    in_ch1.write(0);
+    in_ch2.write(0);
+    in_ch3.write(0);
+    
+    //---Inicia os braços em Z (alta impedancia)----
+    enable_ch1 = 2;
+    enable_ch2 = 2;
+    enable_ch3 = 2;
+    
+    //---Configura o baudrate da serial para 115200---
     pc.baud(115200);   
             
-    pc.printf("Started\r");
+    pc.printf("Started\r"); //Iniciando
     
     while(1) 
     {
-            if((sw == 0) && (start == 0))
-            {
-                start = 1;
-                wait(1);
-            }
-            
-            if((sw == 0) && (start == 1))
-            {
-                start = 0;
-                wait(1);
-            }
-            
-            if(start == 1)
-            {
-                adc = pot.read() * 4096;
-                speed =_scale.from(adc);
-                //pc.printf("%i\r",speed);  
-                motor.one_step(1, speed, &prevStep);
-            }
-            else
-            {
-                motor.stop();
-            }
+        motor_start(0.5, 1); //Liga o motor 1 com 50% de duty-cicle
+        wait_ms(500);
+        motor_start(0.5, 2); //Liga o motor 2 com 50% de duty-cicle
+        wait_ms(500);
+        motor_start(0.5, 3); //Liga o motor 3 com 50% de duty-cicle
+        wait_ms(500);
+        
+        motor_stop(1);  //Desliga o motor 1
+        wait_ms(500);
+        motor_stop(2);  //Desliga o motor 2
+        wait_ms(500);
+        motor_stop(3);  //Desliga o motor 3
+        wait_ms(500);
     }
 }
 
-float read_current(char PHASE)
+//---Função de controle dos braços----------
+void motor_start(float SPEED, unsigned int MOTOR)
 {
-    float ADC_VALUE;
+    if(MOTOR == 1)
+    {
+        enable_ch1 = 1;
+        in_ch1.write(SPEED);
+    }
     
-    switch (PHASE)
+    if(MOTOR == 2)
     {
-        case 1: ADC_VALUE = feedback_phase_A.read() * 3.3f; break;  //convert to volts
-        case 2: ADC_VALUE = feedback_phase_B.read() * 3.3f; break;  //convert to volts
-        case 3: ADC_VALUE = feedback_phase_C.read() * 3.3f; break;  //convert to volts
+        enable_ch2 = 1;
+        in_ch2.write(SPEED);
     }
     
-    float CURRENT = ADC_VALUE / 0.33f; // U = R*I, I = U/R (R = 330mOhm)
+    if(MOTOR == 3)
+    {
+        enable_ch3 = 1;
+        in_ch3.write(SPEED);
+    }
+}
+
+//---Função de desligamento dos braços----------
+void motor_stop(unsigned int MOTOR)
+{
+  if(MOTOR == 1)
+    {
+        enable_ch1 = 2; //alta impedancia - Z
+        in_ch1.write(0);
+    }
     
-    return CURRENT;
-}
\ No newline at end of file
+    if(MOTOR == 2)
+    {
+        enable_ch2 = 2; //alta impedancia - Z
+        in_ch2.write(0);
+    }
+    
+    if(MOTOR == 3)
+    {
+        enable_ch3 = 2; //alta impedancia - Z
+        in_ch3.write(0);
+    }  
+}
+