Baser Kandehir / brushlessController_L293D Featured

brushless motor control library with l293d

Dependents:   brushless_L293D

brushlessController_L293D.cpp@5:5df174756f84, 2015-07-21 (annotated)

Committer:
BaserK
Date:
Tue Jul 21 07:57:31 2015 +0000
Revision:
5:5df174756f84
Parent:
4:3f311665f813 
MIT license is added

Who changed what in which revision?

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BaserK 4:3f311665f813 1 /* Brushless motor control library with l293d
BaserK 4:3f311665f813 2 *
BaserK 4:3f311665f813 3 * @author: Baser Kandehir
BaserK 4:3f311665f813 4 * @date: July 16, 2015
BaserK 5:5df174756f84 5 *
BaserK 5:5df174756f84 6 * Copyright (c) 2015, Baser Kandehir, baser.kandehir@ieee.metu.edu.tr
BaserK 5:5df174756f84 7 *
BaserK 5:5df174756f84 8 * Permission is hereby granted, free of charge, to any person obtaining a copy
BaserK 5:5df174756f84 9 * of this software and associated documentation files (the "Software"), to deal
BaserK 5:5df174756f84 10 * in the Software without restriction, including without limitation the rights
BaserK 5:5df174756f84 11 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
BaserK 5:5df174756f84 12 * copies of the Software, and to permit persons to whom the Software is
BaserK 5:5df174756f84 13 * furnished to do so, subject to the following conditions:
BaserK 5:5df174756f84 14 *
BaserK 5:5df174756f84 15 * The above copyright notice and this permission notice shall be included in
BaserK 5:5df174756f84 16 * all copies or substantial portions of the Software.
BaserK 5:5df174756f84 17 *
BaserK 5:5df174756f84 18 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
BaserK 5:5df174756f84 19 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
BaserK 5:5df174756f84 20 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
BaserK 5:5df174756f84 21 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
BaserK 5:5df174756f84 22 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
BaserK 5:5df174756f84 23 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
BaserK 5:5df174756f84 24 * THE SOFTWARE.
BaserK 5:5df174756f84 25 *
BaserK 4:3f311665f813 26 */
BaserK 4:3f311665f813 27
BaserK 0:9df79ea8037e 28 #include "brushlessController_L293D.h"
BaserK 0:9df79ea8037e 29
BaserK 0:9df79ea8037e 30 /* Digital Outputs */
BaserK 0:9df79ea8037e 31 DigitalOut en1(p18);
BaserK 0:9df79ea8037e 32 DigitalOut en2(p19);
BaserK 0:9df79ea8037e 33 DigitalOut en3(p20);
BaserK 0:9df79ea8037e 34 DigitalOut out1(p21);
BaserK 0:9df79ea8037e 35 DigitalOut out2(p22);
BaserK 0:9df79ea8037e 36 DigitalOut out3(p24);
BaserK 0:9df79ea8037e 37
BaserK 3:d6e8fbc04a43 38
BaserK 3:d6e8fbc04a43 39 /* Brushless motor control function
BaserK 3:d6e8fbc04a43 40 *
BaserK 3:d6e8fbc04a43 41 * @brief: This function can control a brushless motor with L293D.
BaserK 3:d6e8fbc04a43 42 * By changing steps of the brushless motor one after another, motor
BaserK 3:d6e8fbc04a43 43 * can be controlled in either direction.
BaserK 3:d6e8fbc04a43 44 *
BaserK 3:d6e8fbc04a43 45 * @variables:
BaserK 3:d6e8fbc04a43 46 * dir: Direction of the motor
BaserK 3:d6e8fbc04a43 47 * delay_time: Time delay between steps
BaserK 3:d6e8fbc04a43 48 * stepNum: Number of steps
BaserK 3:d6e8fbc04a43 49 */
BaserK 0:9df79ea8037e 50 void brushlessControl(bool dir, int delay_time, int stepNum)
BaserK 0:9df79ea8037e 51 {
BaserK 0:9df79ea8037e 52 /* Digital outputs are initially zero */
BaserK 0:9df79ea8037e 53 out1 = 0; out2 = 0; out3 = 0;
BaserK 0:9df79ea8037e 54
BaserK 0:9df79ea8037e 55 /* Enable the outputs initially */
BaserK 0:9df79ea8037e 56 en1 = 1; en2 = 1; en3 = 1;
BaserK 0:9df79ea8037e 57
BaserK 0:9df79ea8037e 58 int stepCount = 0; // Number of step counts
BaserK 0:9df79ea8037e 59
BaserK 0:9df79ea8037e 60 /* Magical data_array to drive the brushless motor */
BaserK 0:9df79ea8037e 61 // HIGH:1, LOW:0, HIGH-Z:2
BaserK 0:9df79ea8037e 62 char data_array[]={1,2,0, 1,0,2, 2,0,1, 0,2,1, 0,1,2, 2,1,0};
BaserK 0:9df79ea8037e 63 char data_arrayInv[]={0,1,2, 0,2,1, 2,0,1, 1,0,2, 1,2,0, 2,1,0};
BaserK 0:9df79ea8037e 64
BaserK 0:9df79ea8037e 65 if(dir==1) // if dir = 1, reverse the motor direction
BaserK 0:9df79ea8037e 66 for(int k=0; k<18; k++)
BaserK 0:9df79ea8037e 67 data_array[k] = data_arrayInv[k];
BaserK 0:9df79ea8037e 68
BaserK 0:9df79ea8037e 69 for (int i=0; i<stepNum; i++)
BaserK 0:9df79ea8037e 70 {
BaserK 0:9df79ea8037e 71 i%=6; // Steps will be repeated at mod6
BaserK 0:9df79ea8037e 72 out1 = data_array[3*i]; (data_array[3*i] == 2)?(en1 = 0):(en1 = 1);
BaserK 0:9df79ea8037e 73 out2 = data_array[3*i+1]; (data_array[3*i+1] == 2)?(en2 = 0):(en2 = 1);
BaserK 0:9df79ea8037e 74 out3 = data_array[3*i+2]; (data_array[3*i+2] == 2)?(en3 = 0):(en3 = 1);
BaserK 0:9df79ea8037e 75 wait_ms(delay_time);
BaserK 0:9df79ea8037e 76 if(++stepCount == stepNum) break;
BaserK 0:9df79ea8037e 77 }
BaserK 1:f7babaac1149 78 }
BaserK 1:f7babaac1149 79
BaserK 3:d6e8fbc04a43 80 /* Brushless motor one step movement function
BaserK 3:d6e8fbc04a43 81 *
BaserK 3:d6e8fbc04a43 82 * @brief: This function can move the motor one step in either direction
BaserK 3:d6e8fbc04a43 83 * It takes the previous step as a parameter and uses it to go next.
BaserK 3:d6e8fbc04a43 84 *
BaserK 3:d6e8fbc04a43 85 * @variables:
BaserK 3:d6e8fbc04a43 86 * dir: Direction of the motor
BaserK 3:d6e8fbc04a43 87 * delay_time: Time delay between steps
BaserK 3:d6e8fbc04a43 88 * prevStep: Previous step of the motor
BaserK 3:d6e8fbc04a43 89 */
BaserK 1:f7babaac1149 90 void oneStep(bool dir, int delay_time, int* prevStep)
BaserK 1:f7babaac1149 91 {
BaserK 1:f7babaac1149 92 /* Digital outputs are initially zero */
BaserK 1:f7babaac1149 93 out1 = 0; out2 = 0; out3 = 0;
BaserK 1:f7babaac1149 94
BaserK 1:f7babaac1149 95 /* Enable the outputs initially */
BaserK 1:f7babaac1149 96 en1 = 1; en2 = 1; en3 = 1;
BaserK 1:f7babaac1149 97
BaserK 2:ac825be76379 98 /* Magical data_array to drive the brushless motor */
BaserK 1:f7babaac1149 99 // HIGH:1, LOW:0, HIGH-Z:2
BaserK 1:f7babaac1149 100 char data_array[]={1,2,0, 1,0,2, 2,0,1, 0,2,1, 0,1,2, 2,1,0};
BaserK 2:ac825be76379 101
BaserK 2:ac825be76379 102 if(dir==1)
BaserK 2:ac825be76379 103 *prevStep = *prevStep + 1; // Increase prevStep for next step || WARNING: *prevStep++ did not work
BaserK 2:ac825be76379 104 else
BaserK 2:ac825be76379 105 *prevStep = *prevStep - 1;
BaserK 2:ac825be76379 106
BaserK 1:f7babaac1149 107 int i = *prevStep;
BaserK 2:ac825be76379 108
BaserK 3:d6e8fbc04a43 109 if (i<0) // Mod operation for the negative number
BaserK 2:ac825be76379 110 {
BaserK 2:ac825be76379 111 i*=(-1); i%=6; i=6-i;
BaserK 2:ac825be76379 112 i%=6; // if i=6, it should be zero.
BaserK 2:ac825be76379 113 }
BaserK 2:ac825be76379 114 else
BaserK 2:ac825be76379 115 i%=6; // Steps will be repeated at mod6
BaserK 1:f7babaac1149 116
BaserK 1:f7babaac1149 117 out1 = data_array[3*i]; (data_array[3*i] == 2)?(en1 = 0):(en1 = 1);
BaserK 1:f7babaac1149 118 out2 = data_array[3*i+1]; (data_array[3*i+1] == 2)?(en2 = 0):(en2 = 1);
BaserK 1:f7babaac1149 119 out3 = data_array[3*i+2]; (data_array[3*i+2] == 2)?(en3 = 0):(en3 = 1);
BaserK 1:f7babaac1149 120 wait_ms(delay_time);
BaserK 1:f7babaac1149 121 }