Basic test program to control a gimbal brushless motor with TB6612FNG s
Dependencies: brushlessController_TB6612FNG mbed
main.cpp@2:1302cfb8f0e9, 2015-07-17 (annotated)
- Committer:
- BaserK
- Date:
- Fri Jul 17 12:16:28 2015 +0000
- Revision:
- 2:1302cfb8f0e9
- Parent:
- 0:0b4306ff8df4
- Child:
- 3:afece675a1d5
delay changed to microseconds to get faster response
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
BaserK | 0:0b4306ff8df4 | 1 | /* Controlling a brushless motor precisely with 2X TB6612FNG |
BaserK | 0:0b4306ff8df4 | 2 | * |
BaserK | 0:0b4306ff8df4 | 3 | * @author: Baser Kandehir |
BaserK | 0:0b4306ff8df4 | 4 | * @date: July 17, 2015 |
BaserK | 0:0b4306ff8df4 | 5 | * @license: Use this code however you'd like |
BaserK | 0:0b4306ff8df4 | 6 | * |
BaserK | 0:0b4306ff8df4 | 7 | * @description of the program: |
BaserK | 0:0b4306ff8df4 | 8 | * |
BaserK | 0:0b4306ff8df4 | 9 | * This a brushless motor control program. As an example it uses a timer to change the direction of the |
BaserK | 0:0b4306ff8df4 | 10 | * motor. When timer reaches 2 seconds, it changes the direction of movement and resets the timer. One can |
BaserK | 0:0b4306ff8df4 | 11 | * change the speed of the motor by changing the delay between brushless motor steps. |
BaserK | 0:0b4306ff8df4 | 12 | * |
BaserK | 0:0b4306ff8df4 | 13 | * I learned the method from this website, check out the website for more information: |
BaserK | 0:0b4306ff8df4 | 14 | * |
BaserK | 0:0b4306ff8df4 | 15 | * http://www.berryjam.eu/2015/04/driving-bldc-gimbals-at-super-slow-speeds-with-arduino/ |
BaserK | 0:0b4306ff8df4 | 16 | * |
BaserK | 0:0b4306ff8df4 | 17 | */ |
BaserK | 0:0b4306ff8df4 | 18 | |
BaserK | 0:0b4306ff8df4 | 19 | #include "mbed.h" |
BaserK | 0:0b4306ff8df4 | 20 | #include "brushlessController_TB6612FNG.h" |
BaserK | 0:0b4306ff8df4 | 21 | |
BaserK | 0:0b4306ff8df4 | 22 | Timer changeDir; // Timer for changing the direction |
BaserK | 0:0b4306ff8df4 | 23 | bool dir = 0; // Direction of movement |
BaserK | 2:1302cfb8f0e9 | 24 | int delay = 1000; // Delay between steps (us) |
BaserK | 0:0b4306ff8df4 | 25 | |
BaserK | 0:0b4306ff8df4 | 26 | int main() |
BaserK | 0:0b4306ff8df4 | 27 | { |
BaserK | 0:0b4306ff8df4 | 28 | changeDir.start(); // Start timer |
BaserK | 0:0b4306ff8df4 | 29 | while(1) |
BaserK | 0:0b4306ff8df4 | 30 | { |
BaserK | 2:1302cfb8f0e9 | 31 | if(changeDir.read() > 1) |
BaserK | 0:0b4306ff8df4 | 32 | { |
BaserK | 0:0b4306ff8df4 | 33 | dir = !dir; |
BaserK | 0:0b4306ff8df4 | 34 | changeDir.reset(); |
BaserK | 0:0b4306ff8df4 | 35 | } |
BaserK | 0:0b4306ff8df4 | 36 | brushlessControl(dir, delay); |
BaserK | 0:0b4306ff8df4 | 37 | } |
BaserK | 0:0b4306ff8df4 | 38 | } |