Brad VanderWilp / Mbed 2 deprecated Blue_Board_Ticker

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   mbed

Fork of Blue_Board_Test_2 by Brad VanderWilp

main.cpp@18:d7033a38f20b, 2016-04-13 (annotated)

Committer:
vicyap
Date:
Wed Apr 13 19:27:01 2016 +0000
Revision:
18:d7033a38f20b
Parent:
17:5e27edd3d8e6
Child:
19:085eb0579185
reverse working smoothly, can switch at 40% duty cycle

Who changed what in which revision?

UserRevisionLine numberNew contents of line
BVanderWilp 0:d445abf9a8e9 1 #include "mbed.h"
BVanderWilp 0:d445abf9a8e9 2
BVanderWilp 1:69c06d3676fd 3 PwmOut phaseA(PA_8); //Out1, Green
BVanderWilp 0:d445abf9a8e9 4 DigitalOut phaseAEN(PC_10);
BVanderWilp 1:69c06d3676fd 5 PwmOut phaseB(PA_9); //Out2, Blue
BVanderWilp 0:d445abf9a8e9 6 DigitalOut phaseBEN(PC_11);
BVanderWilp 1:69c06d3676fd 7 PwmOut phaseC(PA_10); //Out3, White
BVanderWilp 0:d445abf9a8e9 8 DigitalOut phaseCEN(PC_12);
BVanderWilp 0:d445abf9a8e9 9
BVanderWilp 5:6110655353ad 10 AnalogIn pot(PB_1);
BVanderWilp 5:6110655353ad 11
BVanderWilp 0:d445abf9a8e9 12 InterruptIn button(USER_BUTTON);
BVanderWilp 0:d445abf9a8e9 13
BVanderWilp 0:d445abf9a8e9 14 DigitalOut redLed(PB_2);
BVanderWilp 0:d445abf9a8e9 15 DigitalOut led(LED1);
BVanderWilp 1:69c06d3676fd 16 InterruptIn hallA(PA_15); //H1, Green
BVanderWilp 1:69c06d3676fd 17 InterruptIn hallB(PB_3); //H2, Blue
BVanderWilp 1:69c06d3676fd 18 InterruptIn hallC(PB_10); //H3, White
BVanderWilp 0:d445abf9a8e9 19
BVanderWilp 6:e401c592d2c3 20 Ticker rpmInterrupt;
vicyap 12:d34b96d7f997 21 Ticker spinTicker;
BVanderWilp 6:e401c592d2c3 22 int revCount = 0;
BVanderWilp 6:e401c592d2c3 23 int rpmPrintFlag = 0;
BVanderWilp 6:e401c592d2c3 24 int currentRPM;
BVanderWilp 0:d445abf9a8e9 25
BVanderWilp 5:6110655353ad 26 float pwmMax = 0.9;
BVanderWilp 5:6110655353ad 27 float pwmDuty;
BVanderWilp 0:d445abf9a8e9 28 int stall = 0;
BVanderWilp 7:9d90184335aa 29 int reverse = 0;
BVanderWilp 6:e401c592d2c3 30
BVanderWilp 6:e401c592d2c3 31 void rpmCalc()
BVanderWilp 6:e401c592d2c3 32 {
BVanderWilp 7:9d90184335aa 33 currentRPM = revCount * 60; //account for elec vs mech rpm
BVanderWilp 6:e401c592d2c3 34 revCount = 0;
BVanderWilp 6:e401c592d2c3 35 rpmPrintFlag = 1;
BVanderWilp 6:e401c592d2c3 36 }
BVanderWilp 9:af60c737a93e 37 //original names: CBA CBA, new names: BAC BAC
BVanderWilp 9:af60c737a93e 38 void Brise() //state1, A0 B- C+
vicyap 15:dddb511c39b4 39 {
vicyap 17:5e27edd3d8e6 40 phaseA.write(0);
vicyap 17:5e27edd3d8e6 41 phaseB.write(0);
vicyap 17:5e27edd3d8e6 42 phaseC.write(pwmDuty);
BVanderWilp 0:d445abf9a8e9 43 phaseAEN = 0;
BVanderWilp 1:69c06d3676fd 44 phaseBEN = 1;
BVanderWilp 3:2bcc36fe4de5 45 phaseCEN = 1;
BVanderWilp 1:69c06d3676fd 46 }
BVanderWilp 1:69c06d3676fd 47
BVanderWilp 9:af60c737a93e 48 void Afall() //state2, A+ B- C0
BVanderWilp 1:69c06d3676fd 49 {
vicyap 17:5e27edd3d8e6 50 phaseA.write(pwmDuty);
vicyap 17:5e27edd3d8e6 51 phaseB.write(0);
BVanderWilp 1:69c06d3676fd 52 phaseC.write(0);
BVanderWilp 1:69c06d3676fd 53 phaseAEN = 1;
BVanderWilp 3:2bcc36fe4de5 54 phaseBEN = 1;
vicyap 17:5e27edd3d8e6 55 phaseCEN = 0;
BVanderWilp 1:69c06d3676fd 56 }
BVanderWilp 1:69c06d3676fd 57
BVanderWilp 9:af60c737a93e 58 void Crise() //state3, A+ B0 C-
BVanderWilp 1:69c06d3676fd 59 {
vicyap 17:5e27edd3d8e6 60 phaseA.write(pwmDuty);
vicyap 17:5e27edd3d8e6 61 phaseB.write(0);
vicyap 17:5e27edd3d8e6 62 phaseC.write(0);
vicyap 17:5e27edd3d8e6 63 phaseAEN = 1;
BVanderWilp 1:69c06d3676fd 64 phaseBEN = 0;
BVanderWilp 1:69c06d3676fd 65 phaseCEN = 1;
BVanderWilp 1:69c06d3676fd 66 }
BVanderWilp 1:69c06d3676fd 67
BVanderWilp 9:af60c737a93e 68 void Bfall() //state4, A0 B+ C-
BVanderWilp 1:69c06d3676fd 69 {
BVanderWilp 0:d445abf9a8e9 70 phaseA.write(0);
BVanderWilp 0:d445abf9a8e9 71 phaseB.write(pwmDuty);
vicyap 17:5e27edd3d8e6 72 phaseC.write(0);
vicyap 17:5e27edd3d8e6 73 phaseAEN = 0;
BVanderWilp 0:d445abf9a8e9 74 phaseBEN = 1;
BVanderWilp 3:2bcc36fe4de5 75 phaseCEN = 1;
BVanderWilp 0:d445abf9a8e9 76 }
BVanderWilp 0:d445abf9a8e9 77
BVanderWilp 9:af60c737a93e 78 void Arise() //state5, A- B+ C0
BVanderWilp 0:d445abf9a8e9 79 {
vicyap 17:5e27edd3d8e6 80 phaseA.write(0);
vicyap 17:5e27edd3d8e6 81 phaseB.write(pwmDuty);
vicyap 17:5e27edd3d8e6 82 phaseC.write(0);
BVanderWilp 0:d445abf9a8e9 83 phaseAEN = 1;
vicyap 17:5e27edd3d8e6 84 phaseCEN = 0;
BVanderWilp 3:2bcc36fe4de5 85 phaseBEN = 1;
BVanderWilp 0:d445abf9a8e9 86 }
BVanderWilp 0:d445abf9a8e9 87
BVanderWilp 9:af60c737a93e 88 void Cfall() //state6, A- B0 C+
BVanderWilp 0:d445abf9a8e9 89 {
vicyap 17:5e27edd3d8e6 90 phaseAEN = 1;
BVanderWilp 0:d445abf9a8e9 91 phaseBEN = 0;
vicyap 17:5e27edd3d8e6 92 phaseCEN = 1;
vicyap 17:5e27edd3d8e6 93 phaseA.write(0);
BVanderWilp 0:d445abf9a8e9 94 phaseB.write(0);
BVanderWilp 0:d445abf9a8e9 95 phaseC.write(pwmDuty);
BVanderWilp 0:d445abf9a8e9 96 }
BVanderWilp 0:d445abf9a8e9 97
vicyap 14:0f50e85bd463 98 void toggleRedLed()
vicyap 14:0f50e85bd463 99 {
vicyap 15:dddb511c39b4 100 redLed = !redLed;
vicyap 14:0f50e85bd463 101 }
BVanderWilp 0:d445abf9a8e9 102
BVanderWilp 7:9d90184335aa 103 void jumpStart()
BVanderWilp 7:9d90184335aa 104 {
BVanderWilp 3:2bcc36fe4de5 105 int h1 = hallA.read();
BVanderWilp 3:2bcc36fe4de5 106 int h2 = hallB.read();
BVanderWilp 3:2bcc36fe4de5 107 int h3 = hallC.read();
BVanderWilp 3:2bcc36fe4de5 108 //check where we start
vicyap 16:792055c232a5 109
vicyap 16:792055c232a5 110 if (reverse == 0)
vicyap 16:792055c232a5 111 {
vicyap 16:792055c232a5 112 if(h1 == 0 && h2 == 1 && h3 == 1) { //state1
vicyap 16:792055c232a5 113 Afall();
vicyap 16:792055c232a5 114 } else if(h1 == 0 && h2 == 0 && h3 == 1) { //state2
vicyap 16:792055c232a5 115 Crise();
vicyap 16:792055c232a5 116 } else if(h1 == 1 && h2 == 0 && h3 == 1) { //state3
vicyap 16:792055c232a5 117 Bfall();
vicyap 16:792055c232a5 118 } else if(h1 == 1 && h2 == 0 && h3 == 0) { //state4
vicyap 16:792055c232a5 119 Arise();
vicyap 16:792055c232a5 120 } else if(h1 == 1 && h2 == 1 && h3 == 0) { //state5
vicyap 16:792055c232a5 121 Cfall();
vicyap 16:792055c232a5 122 } else { //(h1 == 0 && h2 == 1 && h3 == 0)state6
vicyap 16:792055c232a5 123 Brise();
vicyap 16:792055c232a5 124 }
vicyap 16:792055c232a5 125 }
vicyap 18:d7033a38f20b 126 else if (reverse == 1) // to go in reverse, shift the mappings by 180 degrees
vicyap 16:792055c232a5 127 {
vicyap 16:792055c232a5 128 if(h1 == 0 && h2 == 1 && h3 == 1) { //state1
vicyap 18:d7033a38f20b 129 // Cfall();
vicyap 18:d7033a38f20b 130 Arise();
vicyap 18:d7033a38f20b 131 } else if(h1 == 0 && h2 == 0 && h3 == 1) { //state2
vicyap 18:d7033a38f20b 132 // Brise();
vicyap 16:792055c232a5 133 Cfall();
vicyap 18:d7033a38f20b 134 } else if(h1 == 1 && h2 == 0 && h3 == 1) { //state3
vicyap 18:d7033a38f20b 135 // Afall();
vicyap 16:792055c232a5 136 Brise();
vicyap 18:d7033a38f20b 137 } else if(h1 == 1 && h2 == 0 && h3 == 0) { //state4
vicyap 18:d7033a38f20b 138 // Crise();
vicyap 16:792055c232a5 139 Afall();
vicyap 18:d7033a38f20b 140 } else if(h1 == 1 && h2 == 1 && h3 == 0) { //state5
vicyap 18:d7033a38f20b 141 // Bfall();
vicyap 16:792055c232a5 142 Crise();
vicyap 18:d7033a38f20b 143 } else { //(h1 == 0 && h2 == 1 && h3 == 0) state6
vicyap 18:d7033a38f20b 144 // Arise();
vicyap 16:792055c232a5 145 Bfall();
vicyap 16:792055c232a5 146 }
vicyap 14:0f50e85bd463 147 }
vicyap 14:0f50e85bd463 148 toggleRedLed();
vicyap 17:5e27edd3d8e6 149 revCount++;
BVanderWilp 7:9d90184335aa 150 }
BVanderWilp 7:9d90184335aa 151
BVanderWilp 7:9d90184335aa 152 void activate()
BVanderWilp 7:9d90184335aa 153 {
vicyap 15:dddb511c39b4 154 if(stall == 0) {
BVanderWilp 7:9d90184335aa 155 stall = 1;
vicyap 15:dddb511c39b4 156 } else {
vicyap 17:5e27edd3d8e6 157 if (pwmDuty < 0.4f)
vicyap 16:792055c232a5 158 {
vicyap 16:792055c232a5 159 reverse = reverse ^ 1;
vicyap 16:792055c232a5 160 }
BVanderWilp 7:9d90184335aa 161 }
BVanderWilp 7:9d90184335aa 162 }
BVanderWilp 7:9d90184335aa 163
vicyap 15:dddb511c39b4 164 int main()
vicyap 15:dddb511c39b4 165 {
BVanderWilp 7:9d90184335aa 166 //wait until button push to start
BVanderWilp 7:9d90184335aa 167 rpmInterrupt.attach(&rpmCalc, 1);
BVanderWilp 7:9d90184335aa 168 button.rise(&activate);
BVanderWilp 7:9d90184335aa 169 while(stall == 0) {
BVanderWilp 7:9d90184335aa 170 led = !led;
BVanderWilp 7:9d90184335aa 171 wait(1);
BVanderWilp 7:9d90184335aa 172 }
BVanderWilp 7:9d90184335aa 173
BVanderWilp 7:9d90184335aa 174 pwmDuty = pot.read() * pwmMax;
BVanderWilp 7:9d90184335aa 175
BVanderWilp 7:9d90184335aa 176 phaseA.period_us(50);
BVanderWilp 7:9d90184335aa 177 phaseB.period_us(50);
BVanderWilp 7:9d90184335aa 178 phaseC.period_us(50);
vicyap 15:dddb511c39b4 179
BVanderWilp 7:9d90184335aa 180 phaseA.write(0);
BVanderWilp 7:9d90184335aa 181 phaseB.write(0);
vicyap 15:dddb511c39b4 182 phaseC.write(0);
vicyap 15:dddb511c39b4 183
BVanderWilp 7:9d90184335aa 184 phaseAEN = 0;
BVanderWilp 7:9d90184335aa 185 phaseBEN = 0;
BVanderWilp 7:9d90184335aa 186 phaseCEN = 0;
vicyap 15:dddb511c39b4 187
vicyap 13:08c700d71324 188 spinTicker.attach_us(&jumpStart, 50);
vicyap 16:792055c232a5 189 float ADCSum = 0;
BVanderWilp 5:6110655353ad 190 int ADCCount = 0;
BVanderWilp 0:d445abf9a8e9 191 while(1) {
BVanderWilp 0:d445abf9a8e9 192 led = !led;
BVanderWilp 5:6110655353ad 193 ADCSum += pot.read();
BVanderWilp 5:6110655353ad 194 ADCCount++;
vicyap 15:dddb511c39b4 195 if(ADCCount == 20) {
BVanderWilp 5:6110655353ad 196 pwmDuty = (ADCSum/20) * pwmMax;
BVanderWilp 5:6110655353ad 197 ADCSum = 0;
BVanderWilp 5:6110655353ad 198 ADCCount = 0;
BVanderWilp 5:6110655353ad 199 }
vicyap 15:dddb511c39b4 200 if(rpmPrintFlag == 1) {
vicyap 16:792055c232a5 201 printf("%d rpm; %f duty; reverse: %d\r\n", currentRPM, pwmDuty, reverse);
BVanderWilp 6:e401c592d2c3 202 rpmPrintFlag = 0;
BVanderWilp 6:e401c592d2c3 203 }
BVanderWilp 5:6110655353ad 204 wait(0.05);
BVanderWilp 0:d445abf9a8e9 205 }
BVanderWilp 0:d445abf9a8e9 206 }