Rotork Research Team
/
TFM_Encoder
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Diff: main.cpp
- Revision:
- 13:da9d3fbbe407
- Parent:
- 12:cbea987a3ec4
- Child:
- 14:1eb49362a607
--- a/main.cpp Thu Jan 03 15:35:32 2019 +0000
+++ b/main.cpp Thu Jan 10 15:07:19 2019 +0000
@@ -3,6 +3,7 @@
void Initialisation (void); //These voids are written after the main. They must be listed here too (functional prototypes).
void StepCW(void);
+void Ph0(void);
void Ph1(void);
void Ph12 (void);
void Ph2(void);
@@ -51,13 +52,13 @@
int TimePerRev = 0; //for calc of RPM
int RPS = 0; //for calc of RPM
int rpm = 0; //for calc of RPM
-int SetPoint = 1000; //for adjusting the speed
+int SetPoint = 700; //for adjusting the speed
int z = 800; //TimePerRev = TimePerClick * (800/z); 800 pulses per rev, PulseCount2_==800 for wheel.getwhoop_ flag. i.e. 10 points per reoluition for RPM calc.
int T = 80; //Motor temp limit
char c; //keyboard cotrol GetChar
-float duty = 0.5; //velocity loop: 1 = fastest, 0.96 = slowest. Below 0.96 the motor will not operate.
+float duty = 1; //velocity loop: 1 = fastest, 0.96 = slowest. Below 0.96 the motor will not operate.
float diff = 0.0; //Velocity loop: diff = SetPoint - rpm;
float x=0.1; //x=time of square wave when 1 phase energised,
float y=0.04; //y=time of square wave when 2 phases energised
@@ -139,20 +140,20 @@
{
case 0:Ph1();break;
case 1:Ph1();break;
- case 2:Ph12();break;
- case 3:Ph12();break;
+ case 2:Ph1();break;
+ case 3:Ph1();break;
case 4:Ph2();break;
case 5:Ph2();break;
- case 6:Ph23();break;
- case 7:Ph23();break;
+ case 6:Ph2();break;
+ case 7:Ph2();break;
case 8:Ph3();break;
case 9:Ph3();break;
- case 10:Ph34();break;
- case 11:Ph34();break;
+ case 10:Ph3();break;
+ case 11:Ph3();break;
case 12:Ph4();break;
case 13:Ph4();break;
- case 14:Ph41();break;
- case 15:Ph41();break;
+ case 14:Ph4();break;
+ case 15:Ph4();break;
default:break;
}
@@ -174,20 +175,20 @@
{
case 0:Ph1();break;
case 1:Ph1();break;
- case 2:Ph12();break;
- case 3:Ph12();break;
+ case 2:Ph1();break;
+ case 3:Ph1();break;
case 4:Ph2();break;
case 5:Ph2();break;
- case 6:Ph23();break;
- case 7:Ph23();break;
+ case 6:Ph2();break;
+ case 7:Ph2();break;
case 8:Ph3();break;
case 9:Ph3();break;
- case 10:Ph34();break;
- case 11:Ph34();break;
+ case 10:Ph3();break;
+ case 11:Ph3();break;
case 12:Ph4();break;
case 13:Ph4();break;
- case 14:Ph41();break;
- case 15:Ph41();break;
+ case 14:Ph4();break;
+ case 15:Ph4();break;
default:break;
}
@@ -206,20 +207,20 @@
//pc.printf("3 StateB= %i, Pulses= %i, Revs= %i \r", StateB,wheel.getPulses(),wheel.getRevolutions());
switch(StateB)
{
- case 15:Ph41();break;
- case 14:Ph41();break;
+ case 15:Ph4();break;
+ case 14:Ph4();break;
case 13:Ph4();break;
case 12:Ph4();break;
- case 11:Ph34();break;
- case 10:Ph34();break;
+ case 11:Ph3();break;
+ case 10:Ph3();break;
case 9:Ph3();break;
case 8:Ph3();break;
- case 7:Ph23();break;
- case 6:Ph23();break;
+ case 7:Ph2();break;
+ case 6:Ph2();break;
case 5:Ph2();break;
case 4:Ph2();break;
- case 3:Ph12();break;
- case 2:Ph12();break;
+ case 3:Ph1();break;
+ case 2:Ph1();break;
case 1:Ph1();break;
case 0:Ph1();break;
default:break;
@@ -239,20 +240,20 @@
//pc.printf("4 StateB= %i, Pulses= %i, Revs= %i \r", StateB,wheel.getPulses(),wheel.getRevolutions());
switch(StateB)
{
- case 15:Ph41();break;
- case 14:Ph41();break;
+ case 15:Ph4();break;
+ case 14:Ph4();break;
case 13:Ph4();break;
case 12:Ph4();break;
- case 11:Ph34();break;
- case 10:Ph34();break;
+ case 11:Ph3();break;
+ case 10:Ph3();break;
case 9:Ph3();break;
case 8:Ph3();break;
- case 7:Ph23();break;
- case 6:Ph23();break;
+ case 7:Ph2();break;
+ case 6:Ph2();break;
case 5:Ph2();break;
case 4:Ph2();break;
- case 3:Ph12();break;
- case 2:Ph12();break;
+ case 3:Ph1();break;
+ case 2:Ph1();break;
case 1:Ph1();break;
case 0:Ph1();break;
default:break;
@@ -285,20 +286,30 @@
{
Ph1();
wait(x);
- Ph12();
- wait(y);
+ //Ph12();
+ //wait(y);
Ph2();
wait(x);
- Ph23();
- wait(y);
+ //Ph23();
+ //wait(y);
Ph3();
wait(x);
- Ph34();
- wait(y);
+ //Ph34();
+ //wait(y);
Ph4();
wait(x);
- Ph41();
- wait(y);
+ //Ph41();
+ //wait(y);
+}
+
+void Ph0(void)
+{
+ Phase1.write(0);
+ Phase2.write(0);
+ Phase3.write(0);
+ Phase4.write(0);
+ //wait(x);
+ //pc.printf("Phase 1 = %i\n\r", wheel.getPulses());
}
void Ph1(void)
@@ -397,12 +408,16 @@
c = pc.getc();
if(c == 'z') //turn on led1 causes CW operation
{
+ AdjCW = 0;
+ AdjACW = 10;
led1 = !led1;
led2 = 0;
- pc.printf("%i, %.5f, %i, %i, %i \n\r", SetPoint, duty, AdjCW, AdjACW, rpm);
+ pc.printf("%i, %.5f, %i, %i, %i \n\r", SetPoint, duty, AdjCW, AdjACW, rpm);
}
if(c == 'x') //turn on led2 causes ACW operation
{
+ AdjCW = 0;
+ AdjACW = 10;
led1 = 0;
led2 = !led2 ;
pc.printf("%i, %.5f, %i, %i, %i \n\r", SetPoint, duty, AdjCW, AdjACW, rpm);
@@ -410,7 +425,7 @@
if(c == 'q') //Increases setpoint used in Velocity loop
{
//duty = duty + 0.0001;
- SetPoint=SetPoint+10;
+ SetPoint=SetPoint+5;
if (SetPoint >2200)
{
SetPoint = 2200;
@@ -420,7 +435,7 @@
if(c == 'a') //Decreases setpoint used in Velocity loop
{
//duty = duty - 0.0001;
- SetPoint=SetPoint-10;
+ SetPoint=SetPoint-5;
if (SetPoint <50)
{
SetPoint = 50;
@@ -485,22 +500,32 @@
rpm = (RPS * 60)/10000;
//Aout=((0.30303*rpm)/1000); // for 500 rpm (0.30303*500/1000)*3.3V = 0.500V
ReadKType();
- //if(rpm < 800)
- //{
- // AdjCW = 0;
- // AdjACW = 3;
- //}
- //if(rpm > 799 and rpm < 2000)
- //{
- // AdjCW = 1;
- // AdjACW = 2;
- //}
- //if(rpm >1999)
- //{
- // AdjCW = 2;
- // AdjACW = 1;
- //}
-
+ if(rpm < 10)
+ {
+ AdjCW = 0;
+ AdjACW = 10;
+ }
+ if(rpm > 9 and rpm < 124)
+ {
+ AdjCW = 3;
+ AdjACW = 7;
+ }
+ if(rpm > 125 and rpm < 319)
+ {
+ AdjCW = 4;
+ AdjACW = 6;
+ }
+ if(rpm > 320 and rpm < 399)
+ {
+ AdjCW = 5;
+ AdjACW = 6;
+ }
+ if(rpm > 400)
+ {
+ AdjCW = 5;
+ AdjACW = 5;
+ }
+
//pc.printf("rpm = %i\r", rpm);
//pc.printf("StateA= %i, StateB= %i, StateC= %i, Pulses = %i\n\r", StateA, StateB, StateC, wheel.getPulses());
}
@@ -508,14 +533,14 @@
void VelocityLoop (void)
{
diff = SetPoint - rpm; //difference between setpoint and the RPM measurement
- duty = duty + (diff*0.0001); //duty is adjusted to speed up or slow down until difference = 0
+ duty = duty + (diff*0.001); //0.00001 when change required at fast rpm. 0.001 when changes required at slow rpm. duty is adjusted to speed up or slow down until difference = 0
if (duty > 1) //limits for duty. Motor will not operate below 0.96. 1 = max
{
duty = 1;
}
- if (duty <0.01) //3A min duty 0.96, 6.5A min duty 0.4
+ if (duty <0.32490) //3A min duty 0.96, 6.5A min duty 0.4
{
- duty = 0.01;
+ duty = 0.32490;
}
//pc.printf("%i, %.5f, %i, %i, %i \r", SetPoint, duty, AdjCW, AdjACW, rpm); //SetPoint = %i, rpm = %i\n\r", duty, SetPoint, rpm);
}