Brad VanderWilp / Mbed 2 deprecated Blue_Board_Test

Senior Design open loop control for FreeScale motor using IHM07M1

Dependencies:   mbed

main.cpp@0:bacbeb54a4dd, 2016-04-06 (annotated)

Committer:
BVanderWilp
Date:
Wed Apr 06 17:50:12 2016 +0000
Revision:
0:bacbeb54a4dd
Child:
1:4a4e44a7564a
First commit; ramps up the motor to a slow speed, final speed can be changed by adjusting minDelay

Who changed what in which revision?

UserRevisionLine numberNew contents of line
BVanderWilp 0:bacbeb54a4dd 1 #include "mbed.h"
BVanderWilp 0:bacbeb54a4dd 2
BVanderWilp 0:bacbeb54a4dd 3 PwmOut phaseA(PA_8);
BVanderWilp 0:bacbeb54a4dd 4 DigitalOut phaseAEN(PC_10);
BVanderWilp 0:bacbeb54a4dd 5 PwmOut phaseB(PA_9);
BVanderWilp 0:bacbeb54a4dd 6 DigitalOut phaseBEN(PC_11);
BVanderWilp 0:bacbeb54a4dd 7 PwmOut phaseC(PA_10);
BVanderWilp 0:bacbeb54a4dd 8 DigitalOut phaseCEN(PC_12);
BVanderWilp 0:bacbeb54a4dd 9
BVanderWilp 0:bacbeb54a4dd 10 InterruptIn button(USER_BUTTON);
BVanderWilp 0:bacbeb54a4dd 11
BVanderWilp 0:bacbeb54a4dd 12 DigitalOut led(LED1);
BVanderWilp 0:bacbeb54a4dd 13 Ticker interrupt;
BVanderWilp 0:bacbeb54a4dd 14
BVanderWilp 0:bacbeb54a4dd 15 int count = 0;
BVanderWilp 0:bacbeb54a4dd 16 float pwmDuty = 0.3;
BVanderWilp 0:bacbeb54a4dd 17
BVanderWilp 0:bacbeb54a4dd 18 void intcall(){
BVanderWilp 0:bacbeb54a4dd 19 count = (count + 1) % 6;
BVanderWilp 0:bacbeb54a4dd 20
BVanderWilp 0:bacbeb54a4dd 21 if(count == 0) //B+, C-
BVanderWilp 0:bacbeb54a4dd 22 {
BVanderWilp 0:bacbeb54a4dd 23 // phaseA = 0;
BVanderWilp 0:bacbeb54a4dd 24 // phaseAP = 0;
BVanderWilp 0:bacbeb54a4dd 25 // phaseB = 1;
BVanderWilp 0:bacbeb54a4dd 26 // phaseBP = 0;
BVanderWilp 0:bacbeb54a4dd 27 // phaseC = 0;
BVanderWilp 0:bacbeb54a4dd 28 // phaseCP = 1;
BVanderWilp 0:bacbeb54a4dd 29 phaseAEN = 0;
BVanderWilp 0:bacbeb54a4dd 30 phaseA.write(0);
BVanderWilp 0:bacbeb54a4dd 31 phaseB.write(pwmDuty);
BVanderWilp 0:bacbeb54a4dd 32 phaseBEN = 1;
BVanderWilp 0:bacbeb54a4dd 33 }
BVanderWilp 0:bacbeb54a4dd 34 else if(count == 1) //B+, A-
BVanderWilp 0:bacbeb54a4dd 35 {
BVanderWilp 0:bacbeb54a4dd 36 // phaseA = 0;
BVanderWilp 0:bacbeb54a4dd 37 // phaseAP = 1;
BVanderWilp 0:bacbeb54a4dd 38 // phaseB = 1;
BVanderWilp 0:bacbeb54a4dd 39 // phaseBP = 0;
BVanderWilp 0:bacbeb54a4dd 40 // phaseC = 0;
BVanderWilp 0:bacbeb54a4dd 41 // phaseCP = 0;
BVanderWilp 0:bacbeb54a4dd 42 phaseCEN = 0;
BVanderWilp 0:bacbeb54a4dd 43 phaseAEN = 1;
BVanderWilp 0:bacbeb54a4dd 44 }
BVanderWilp 0:bacbeb54a4dd 45 else if(count == 2) //C+, A-
BVanderWilp 0:bacbeb54a4dd 46 {
BVanderWilp 0:bacbeb54a4dd 47 // phaseA = 0;
BVanderWilp 0:bacbeb54a4dd 48 // phaseAP = 1;
BVanderWilp 0:bacbeb54a4dd 49 // phaseB = 0;
BVanderWilp 0:bacbeb54a4dd 50 // phaseBP = 0;
BVanderWilp 0:bacbeb54a4dd 51 // phaseC = 1;
BVanderWilp 0:bacbeb54a4dd 52 // phaseCP = 0;
BVanderWilp 0:bacbeb54a4dd 53 phaseBEN = 0;
BVanderWilp 0:bacbeb54a4dd 54 phaseB.write(0);
BVanderWilp 0:bacbeb54a4dd 55 phaseC.write(pwmDuty);
BVanderWilp 0:bacbeb54a4dd 56 phaseCEN = 1;
BVanderWilp 0:bacbeb54a4dd 57 }
BVanderWilp 0:bacbeb54a4dd 58 else if(count == 3) //C+, B-
BVanderWilp 0:bacbeb54a4dd 59 {
BVanderWilp 0:bacbeb54a4dd 60 // phaseA = 0;
BVanderWilp 0:bacbeb54a4dd 61 // phaseAP = 0;
BVanderWilp 0:bacbeb54a4dd 62 // phaseB = 0;
BVanderWilp 0:bacbeb54a4dd 63 // phaseBP = 1;
BVanderWilp 0:bacbeb54a4dd 64 // phaseC = 1;
BVanderWilp 0:bacbeb54a4dd 65 // phaseCP = 0;
BVanderWilp 0:bacbeb54a4dd 66 phaseAEN = 0;
BVanderWilp 0:bacbeb54a4dd 67 phaseBEN = 1;
BVanderWilp 0:bacbeb54a4dd 68 }
BVanderWilp 0:bacbeb54a4dd 69 else if(count == 4) //A+, B-
BVanderWilp 0:bacbeb54a4dd 70 {
BVanderWilp 0:bacbeb54a4dd 71 // phaseA = 1;
BVanderWilp 0:bacbeb54a4dd 72 // phaseAP = 0;
BVanderWilp 0:bacbeb54a4dd 73 // phaseB = 0;
BVanderWilp 0:bacbeb54a4dd 74 // phaseBP = 1;
BVanderWilp 0:bacbeb54a4dd 75 // phaseC = 0;
BVanderWilp 0:bacbeb54a4dd 76 // phaseCP = 0;
BVanderWilp 0:bacbeb54a4dd 77 phaseCEN = 0;
BVanderWilp 0:bacbeb54a4dd 78 phaseC.write(0);
BVanderWilp 0:bacbeb54a4dd 79 phaseA.write(pwmDuty);
BVanderWilp 0:bacbeb54a4dd 80 phaseAEN = 1;
BVanderWilp 0:bacbeb54a4dd 81 }
BVanderWilp 0:bacbeb54a4dd 82 else if(count == 5) //A+, C-
BVanderWilp 0:bacbeb54a4dd 83 {
BVanderWilp 0:bacbeb54a4dd 84 // phaseA = 1;
BVanderWilp 0:bacbeb54a4dd 85 // phaseAP = 0;
BVanderWilp 0:bacbeb54a4dd 86 // phaseB = 0;
BVanderWilp 0:bacbeb54a4dd 87 // phaseBP = 0;
BVanderWilp 0:bacbeb54a4dd 88 // phaseC = 0;
BVanderWilp 0:bacbeb54a4dd 89 // phaseCP = 1;
BVanderWilp 0:bacbeb54a4dd 90 phaseBEN = 0;
BVanderWilp 0:bacbeb54a4dd 91 phaseCEN = 1;
BVanderWilp 0:bacbeb54a4dd 92 }
BVanderWilp 0:bacbeb54a4dd 93 }
BVanderWilp 0:bacbeb54a4dd 94
BVanderWilp 0:bacbeb54a4dd 95 int stall = 0;
BVanderWilp 0:bacbeb54a4dd 96 void activate()
BVanderWilp 0:bacbeb54a4dd 97 {
BVanderWilp 0:bacbeb54a4dd 98 stall = 1;
BVanderWilp 0:bacbeb54a4dd 99 }
BVanderWilp 0:bacbeb54a4dd 100
BVanderWilp 0:bacbeb54a4dd 101 int main() {
BVanderWilp 0:bacbeb54a4dd 102 float intDelay = .05;
BVanderWilp 0:bacbeb54a4dd 103 // float minDelay = .005;
BVanderWilp 0:bacbeb54a4dd 104 float minDelay = .025;
BVanderWilp 0:bacbeb54a4dd 105 button.rise(&activate);
BVanderWilp 0:bacbeb54a4dd 106 while(stall == 0) {
BVanderWilp 0:bacbeb54a4dd 107 led = !led;
BVanderWilp 0:bacbeb54a4dd 108 wait(2);
BVanderWilp 0:bacbeb54a4dd 109 }
BVanderWilp 0:bacbeb54a4dd 110 interrupt.attach(&intcall, intDelay);
BVanderWilp 0:bacbeb54a4dd 111 phaseA.period_us(10);
BVanderWilp 0:bacbeb54a4dd 112 phaseB.period_us(10);
BVanderWilp 0:bacbeb54a4dd 113 phaseC.period_us(10);
BVanderWilp 0:bacbeb54a4dd 114
BVanderWilp 0:bacbeb54a4dd 115 phaseA.write(0);
BVanderWilp 0:bacbeb54a4dd 116 phaseB.write(pwmDuty);
BVanderWilp 0:bacbeb54a4dd 117 phaseC.write(0);
BVanderWilp 0:bacbeb54a4dd 118
BVanderWilp 0:bacbeb54a4dd 119 phaseAEN = 0;
BVanderWilp 0:bacbeb54a4dd 120 phaseBEN = 1;
BVanderWilp 0:bacbeb54a4dd 121 phaseCEN = 1;
BVanderWilp 0:bacbeb54a4dd 122
BVanderWilp 0:bacbeb54a4dd 123 while(1) {
BVanderWilp 0:bacbeb54a4dd 124 led = !led;
BVanderWilp 0:bacbeb54a4dd 125 wait(0.2);
BVanderWilp 0:bacbeb54a4dd 126 if(intDelay > minDelay)
BVanderWilp 0:bacbeb54a4dd 127 {
BVanderWilp 0:bacbeb54a4dd 128 intDelay -= .001;
BVanderWilp 0:bacbeb54a4dd 129 interrupt.detach();
BVanderWilp 0:bacbeb54a4dd 130 interrupt.attach(&intcall, intDelay);
BVanderWilp 0:bacbeb54a4dd 131 // pwmDuty += .01;
BVanderWilp 0:bacbeb54a4dd 132 pwmDuty += .007;
BVanderWilp 0:bacbeb54a4dd 133 }
BVanderWilp 0:bacbeb54a4dd 134 }
BVanderWilp 0:bacbeb54a4dd 135 }