Diff: brushlessController_L293D.cpp

Revision:

0:9df79ea8037e

Child:

1:f7babaac1149

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/brushlessController_L293D.cpp	Mon Jul 13 14:12:10 2015 +0000
@@ -0,0 +1,40 @@
+#include "brushlessController_L293D.h"
+
+/* Digital Outputs */
+DigitalOut en1(p18);
+DigitalOut en2(p19);
+DigitalOut en3(p20);
+DigitalOut out1(p21);
+DigitalOut out2(p22);
+DigitalOut out3(p24);
+
+/* HIGH-Z is activated with 2xL293D, now it works better */
+void brushlessControl(bool dir, int delay_time, int stepNum)
+{
+    /* Digital outputs are initially zero */
+    out1 = 0; out2 = 0; out3 = 0;
+    
+    /* Enable the outputs initially */
+    en1 = 1; en2 = 1; en3 = 1; 
+    
+    int stepCount = 0; // Number of step counts
+    
+    /* Magical data_array to drive the brushless motor */ 
+    // HIGH:1, LOW:0, HIGH-Z:2
+    char data_array[]={1,2,0, 1,0,2, 2,0,1, 0,2,1, 0,1,2, 2,1,0};
+    char data_arrayInv[]={0,1,2, 0,2,1, 2,0,1, 1,0,2, 1,2,0, 2,1,0};
+    
+    if(dir==1)      // if dir = 1, reverse the motor direction
+        for(int k=0; k<18; k++)
+            data_array[k] = data_arrayInv[k];      
+    
+    for (int i=0; i<stepNum; i++)
+    {
+        i%=6;  // Steps will be repeated at mod6
+        out1 = data_array[3*i];    (data_array[3*i]   == 2)?(en1 = 0):(en1 = 1);   
+        out2 = data_array[3*i+1];  (data_array[3*i+1] == 2)?(en2 = 0):(en2 = 1); 
+        out3 = data_array[3*i+2];  (data_array[3*i+2] == 2)?(en3 = 0):(en3 = 1); 
+        wait_ms(delay_time);   
+        if(++stepCount == stepNum) break;    
+    }   
+}
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