Dual Brushless Motor ESC, 10-62V, up to 50A per motor. Motors ganged or independent, multiple control input methods, cycle-by-cycle current limit, speed mode and torque mode control. Motors tiny to kW. Speed limit and other parameters easily set in firmware. As used in 'The Brushless Brutalist' locomotive - www.jons-workshop.com. See also Model Engineer magazine June-October 2019.
Dependencies: mbed BufferedSerial Servo PCT2075 FastPWM
Update 17th August 2020 Radio control inputs completed
Diff: main.cpp
- Revision:
- 5:ca86a7848d54
- Parent:
- 4:21d91465e4b1
- Child:
- 6:f289a49c1eae
--- a/main.cpp Thu Apr 26 08:23:04 2018 +0000 +++ b/main.cpp Tue May 29 16:36:34 2018 +0000 @@ -3,8 +3,15 @@ #include "BufferedSerial.h" #include "FastPWM.h" #include "Servo.h" + +/* +New 29th May 2018 - YET TO CODE FOR - Fwd/Rev line from possible remote hand control box has signal routed to T5 + Also new LMT01 temperature sensor routed to T1 +*/ + + /* STM32F401RE - compile using NUCLEO-F401RE -// PROJECT - Dual Brushless Motor Controller - March 2018. +// PROJECT - Dual Brushless Motor Controller - Jon Freeman April 2018. AnalogIn to read each motor current @@ -23,23 +30,18 @@ */ // Hoped to select servo functions from user info stored on EEROM. Too difficult. Do not define servo as in and out -//#define SERVO1_IN -//#define SERVO1_OUT -//#define SERVO2_IN -//#define SERVO2_OUT - // Port A -> MotorA, Port B -> MotorB const uint16_t AUL = 1 << 0, // Feb 2018 Now using DGD21032 mosfet drivers via 74HC00 pwm gates (low side) - GOOD, works well with auto-tickle of high side drivers -AVL = 1 << 6, +AVL = 1 << 6, // These are which port bits connect to which mosfet driver AWL = 1 << 4, AUH = 1 << 1, AVH = 1 << 7, AWH = 1 << 8, -AUV = AUH | AVL, +AUV = AUH | AVL, // Each of 6 possible output energisations made up of one hi and one low AVU = AVH | AUL, AUW = AUH | AWL, AWU = AWH | AUL, @@ -49,9 +51,9 @@ KEEP_L_MASK_A = AUL | AVL | AWL, KEEP_H_MASK_A = AUH | AVH | AWH, -BRA = AUL | AVL | AWL, +BRA = AUL | AVL | AWL, // All low side switches on (and all high side off) for braking -BUL = 1 << 0, +BUL = 1 << 0, // Likewise for MotorB but different port bits on different port BVL = 1 << 1, BWL = 1 << 2, @@ -74,7 +76,7 @@ PORT_A_MASK = AUL | AVL | AWL | AUH | AVH | AWH, // NEW METHOD FOR DGD21032 MOSFET DRIVERS PORT_B_MASK = BUL | BVL | BWL | BUH | BVH | BWH; -PortOut MotA (PortA, PORT_A_MASK); +PortOut MotA (PortA, PORT_A_MASK); // Activate output ports to motor drivers PortOut MotB (PortB, PORT_B_MASK); // Pin 1 VBAT NET +3V3 @@ -86,7 +88,7 @@ // Pin 7 NRST NET NRST AnalogIn Ain_DriverPot (PC_0); // Pin 8 Spare Analogue in, net SAIN fitted with external pull-down AnalogIn Ain_SystemVolts (PC_1); // Pin 9 -AnalogIn Motor_A_Current (PC_2); // Pin 10 might as well use up WSRA stock here +AnalogIn Motor_A_Current (PC_2); // Pin 10 AnalogIn Motor_B_Current (PC_3); // Pin 11 // Pin 12 VSSA/VREF- NET GND // Pin 13 VDDA/VREF+ NET +3V3 @@ -129,12 +131,15 @@ // Feb 2018 Pins 44 and 45 now liberated, could use for serial or other uses //BufferedSerial extra_ser (PA_11, PA_12); // Pins 44, 45 tx, rx to XBee module DigitalOut T2 (PA_11); // Pin 44 -DigitalOut T1 (PA_12); // Pin 45 +// was DigitalOut T1 (PA_12); // Pin 45 +InterruptIn T1 (PA_12); // Pin 45 now input counting pulses from LMT01 temperature sensor // Pin 46 SWDIO // Pin 47 VSS // Pin 48 VDD // Pin 49 SWCLK -DigitalOut T5 (PA_15); // Pin 50 + +//Was DigitalOut T5 (PA_15); // Pin 50 +DigitalIn T5 (PA_15); // Pin 50 now fwd/rev from remote control box if fitted InterruptIn MAH1 (PC_10); // Pin 51 InterruptIn MAH2 (PC_11); // Pin 52 InterruptIn MAH3 (PC_12); // Pin 53 @@ -155,29 +160,18 @@ // Pin 64 VDD // SYSTEM CONSTANTS -/* Please Do Not Alter these */ -const int VOLTAGE_READ_INTERVAL_US = 50, // Interrupts timed every 50 micro sec, runs around loop performing 1 A-D conversion per pass - MAIN_LOOP_REPEAT_TIME_US = 31250, // 31250 us, with TACHO_TAB_SIZE = 32 means tacho_ticks_per_time is tacho_ticks_per_second - MAIN_LOOP_ITERATION_Hz = 1000000 / MAIN_LOOP_REPEAT_TIME_US, - CURRENT_SAMPLES_AVERAGED = 100, // Current is spikey. Reading smoothed by using average of this many latest current readings - PWM_HZ = 16000, // chosen to be above cutoff frequency of average human ear - MAX_PWM_TICKS = SystemCoreClock / PWM_HZ, - TICKLE_TIMES = 100 ; - -/* End of Please Do Not Alter these */ /* Global variable declarations */ volatile uint32_t fast_sys_timer = 0; // gets incremented by our Ticker ISR every VOLTAGE_READ_INTERVAL_US +int WatchDog = WATCHDOG_RELOAD + 80; // Allow extra few seconds at powerup uint32_t volt_reading = 0, // Global updated by interrupt driven read of Battery Volts driverpot_reading = 0, // Global updated by interrupt driven read of Drivers Pot sys_timer = 0, // gets incremented by our Ticker ISR every MAIN_LOOP_REPEAT_TIME_US - AtoD_Semaphore = 0; + AtoD_Semaphore = 0; +int IAm; bool loop_flag = false; // made true in ISR_loop_timer, picked up and made false again in main programme loop bool flag_8Hz = false; // As loop_flag but repeats 8 times per sec -double angle = 0.0, angle_step = 0.00005, sinv, cosv; - -//double test_pot = 0.0, test_amps = 0.0; // These used in knifeandfork code testing only /* End of Global variable declarations */ Ticker tick_vread; // Device to cause periodic interrupts, used to time voltage readings etc @@ -185,14 +179,6 @@ // Interrupt Service Routines -/*uint32_t edgeintcnt = 0; -void seredgerise () { edgeintcnt++; } -void seredgefall () { edgeintcnt++; } - -void seredgetest () { - com2.printf ("edgeintcnt = %d\r\n", edgeintcnt); - com3.printf ("%c", 0x55); -}*/ /** void ISR_loop_timer () * This ISR responds to Ticker interrupts at a rate of (probably) 32 times per second (check from constant declarations above) * This ISR sets global flag 'loop_flag' used to synchronise passes around main programme control loop. @@ -212,21 +198,13 @@ * AtoD_reader() called from convenient point in code to take readings outside of ISRs */ -void ISR_voltage_reader () // This is Ticker Interrupt Service Routine - few us between readings - VOLTAGE_READ_INTERVAL_US = 50 +void ISR_voltage_reader () // This is Ticker Interrupt Service Routine ; few us between readings ; VOLTAGE_READ_INTERVAL_US = 50 { AtoD_Semaphore++; fast_sys_timer++; // Just a handy measure of elapsed time for anything to use } -/* -Servo - mutex uses : -0. Unused -1. Input of pwm from model control Rx -2. Output pwm to drive model control servo -*/ -enum {SERVO_UNUSED, SERVO_IN, SERVO_OUT} ; - class RControl_In { // Read servo style pwm input Timer t; @@ -318,7 +296,7 @@ class motor { - uint32_t Hall_total, mode, edge_count_table[MAIN_LOOP_ITERATION_Hz]; // to contain one seconds worth + uint32_t Hall_total, visible_mode, inner_mode, edge_count_table[MAIN_LOOP_ITERATION_Hz]; // to contain one seconds worth uint32_t latest_pulses_per_sec, Hall_tab_ptr, direction, ppstmp; bool moving_flag; const uint16_t * lut; @@ -332,6 +310,8 @@ int32_t angle_cnt; uint32_t current_samples[CURRENT_SAMPLES_AVERAGED]; // Circular buffer where latest current readings get stored uint32_t Hindex[2], tickleon, encoder_error_cnt; + uint32_t RPM, PPS; + double last_V, last_I; motor () {} ; // Default constructor motor (PortOut * , FastPWM * , FastPWM * , const uint16_t *, InterruptIn **) ; void set_V_limit (double) ; // Sets max motor voltage @@ -369,11 +349,8 @@ maxI->period_ticks (MAX_PWM_TICKS + 1); maxV->pulsewidth_ticks (MAX_PWM_TICKS / 20); maxI->pulsewidth_ticks (MAX_PWM_TICKS / 30); -// if (P != PortA && P != PortB) -// pc.printf ("Fatal in 'motor' constructor, Invalid Port\r\n"); -// else -// PortOut Motor_P (P, *mask); // PortA for motor A, PortB for motor B - mode = REGENBRAKE; + visible_mode = REGENBRAKE; + inner_mode = REGENBRAKE; lut = lutptr; Hindex[0] = Hindex[1] = read_Halls (); ppstmp = 0; @@ -384,8 +361,15 @@ Hall1 = Hall[0]; Hall2 = Hall[1]; Hall3 = Hall[2]; + PPS = 0; + RPM = 0; + last_V = last_I = 0.0; } +/** +void motor::direction_set (int dir) { +Used to set direction according to mode data from eeprom +*/ void motor::direction_set (int dir) { if (dir != 0) dir = FORWARD | REVERSE; // bits used in eor @@ -429,7 +413,7 @@ p = 0.0; if (p > 1.0) p = 1.0; -// last_pwm = p; + last_V = p; // for read by diagnostics p *= 0.95; // need limit, ffi see MCP1630 data p = 1.0 - p; // because pwm is wrong way up maxV->pulsewidth_ticks ((int)(p * MAX_PWM_TICKS)); // PWM output to MCP1630 inverted motor pwm as MCP1630 inverts @@ -442,6 +426,7 @@ p = 0.0; if (p > 1.0) p = 1.0; + last_I = p; a = (int)(p * MAX_PWM_TICKS); if (a > MAX_PWM_TICKS) a = MAX_PWM_TICKS; @@ -465,6 +450,8 @@ Hall_tab_ptr++; if (Hall_tab_ptr >= MAIN_LOOP_ITERATION_Hz) Hall_tab_ptr = 0; + PPS = latest_pulses_per_sec; + RPM = (latest_pulses_per_sec * 60) / 24; return latest_pulses_per_sec; } @@ -473,15 +460,25 @@ return moving_flag; } +/** +bool motor::set_mode (int m) +Use to set motor to one mode of HANDBRAKE, FORWARD, REVERSE, REGENBRAKE. +If this causes change of mode, also sets V and I to zero. +*/ bool motor::set_mode (int m) { if ((m != HANDBRAKE) && (m != FORWARD) && (m != REVERSE) && (m !=REGENBRAKE)) { pc.printf ("Error in set_mode, invalid mode %d\r\n", m); return false; } + if (visible_mode != m) { // Mode change, kill volts and amps to be safe + set_V_limit (0.0); + set_I_limit (0.0); + visible_mode = m; + } if (m == FORWARD || m == REVERSE) m ^= direction; - mode = m; + inner_mode = m; // idea is to use inner_mode only in lut addressing, keep 'visible_mode' true regardless of setup data in eeprom return true; } @@ -503,11 +500,18 @@ encoder_error_cnt++; else angle_cnt += delta_theta; - *Motor_Port = lut[mode | Hindex[0]]; + *Motor_Port = lut[inner_mode | Hindex[0]]; // changed mode to inner_mode 27/04/18 Hall_total++; Hindex[1] = Hindex[0]; } + uint32_t temp_sensor_count = 0; // global + bool temp_count_in_progress = false; + +void temp_sensor_isr () { // got rising edge from LMT01 + temp_sensor_count++; +} + void MAH_isr () { uint32_t x = 0; @@ -537,7 +541,7 @@ void motor::motor_set () { Hindex[0] = read_Halls (); - *Motor_Port = lut[mode | Hindex[0]]; + *Motor_Port = lut[inner_mode | Hindex[0]]; } void setVI (double v, double i) { @@ -555,7 +559,24 @@ MotorB.set_I_limit (i); } -void sincostest () { +void read_RPM (uint32_t * dest) { + dest[0] = MotorA.RPM; + dest[1] = MotorB.RPM; +} + +void read_PPS (uint32_t * dest) { + dest[0] = MotorA.PPS; + dest[1] = MotorB.PPS; +} + +void read_last_VI (double * d) { // only for test from cli + d[0] = MotorA.last_V; + d[1] = MotorA.last_I; + d[2] = MotorB.last_V; + d[3] = MotorB.last_I; +} + +/*void sincostest () { sinv = sin(angle); // to set speed and direction of MotorA cosv = cos(angle); // to set speed and direction of MotorB Servos[0]->write ((sinv + 1.0) / 2.0); @@ -577,14 +598,25 @@ cosv = -cosv; } MotorB.set_V_limit (0.01 + (cosv / 1.3)); -} +}*/ +/** +void AtoD_reader () // Call to here every VOLTAGE_READ_INTERVAL_US = 50 once loop responds to flag set in isr +Not part of ISR +*/ void AtoD_reader () // Call to here every VOLTAGE_READ_INTERVAL_US = 50 once loop responds to flag set in isr { - static uint32_t i = 0, tab_ptr = 0; + static uint32_t i = 0, tab_ptr = 0, local_temperature_count = 0; // sincostest (); - +// uint32_t temp_sensor_count = 0; // global +// bool temp_count_in_progress = false; + if (local_temperature_count == temp_sensor_count) + temp_count_in_progress = false; + else { + temp_count_in_progress = true; + local_temperature_count = temp_sensor_count; + } if (MotorA.tickleon) MotorA.high_side_off (); if (MotorB.tickleon) @@ -620,7 +652,7 @@ } // end of while (AtoD_Semaphore > 0) { if (MotorA.tickleon) { MotorA.tickleon--; - MotorA.motor_set (); + MotorA.motor_set (); // Reactivate any high side switches turned off above } if (MotorB.tickleon) { MotorB.tickleon--; @@ -635,25 +667,31 @@ */ double Read_DriverPot () { - return (double) driverpot_reading / 65535.0; // Normalise 0.0 <= control pot <= 1.0 + return ((double) driverpot_reading) / 65536.0; // Normalise 0.0 <= control pot <= 1.0 } double Read_BatteryVolts () { - return (double) volt_reading / 951.0; // divisor fiddled to make voltage reading correct ! + return ((double) volt_reading) / 951.0; // divisor fiddled to make voltage reading correct ! } -double read_volts () // A test function -{ - pc.printf ("pot = %.4f, System Voltage = %.2f\r\n", Read_DriverPot(), Read_BatteryVolts()); - return Read_BatteryVolts(); +void read_supply_vi (double * val) { // called from cli + val[0] = MotorA.I.ave; + val[1] = MotorB.I.ave; + val[2] = Read_BatteryVolts (); } -void mode_test (int mode, double val) { +void mode_set (int mode, double val) { // called from cli to set fw, re, rb, hb MotorA.set_mode (mode); MotorB.set_mode (mode); if (mode == REGENBRAKE) { - + if (val > 1.0) + val = 1.0; + if (val < 0.0) + val = 0.0; + val *= 0.9; // set upper limit, this is essential + val = sqrt (val); // to linearise effect + setVI (val, 1.0); } } @@ -662,7 +700,7 @@ extern bool wr_24LC64 (int mem_start_addr, char * source, int length) ; extern bool rd_24LC64 (int mem_start_addr, char * dest, int length) ; -struct motorpairoptions { // This to be user settable in eeprom, 32 bytes +/*struct motorpairoptions { // This to be user settable in eeprom, 32 bytes uint8_t MotA_dir, // 0 or 1 MotB_dir, // 0 or 1 gang, // 0 for separate control (robot mode), 1 for ganged loco bogie mode @@ -671,27 +709,26 @@ cmd_source, // 0 Invalid, 1 COM1, 2 COM2, 3 Pot, 4 Servo1, 5 Servo2 last; } ; - +*/ int I_Am () { // Returns boards id number as ASCII char - int i = J3; - if (i != 0) - i = 1; - return i | '0'; +// int i = J3; +// if (i != 0) +// i = 1; +// return i | '0'; + return IAm; } int main() { int eighth_sec_count = 0; - uint32_t Apps, Bpps; MotA = 0; // Output all 0s to Motor drive ports A and B MotB = 0; MotPtr[0] = &MotorA; // Pointers to motor class objects MotPtr[1] = &MotorB; - -// tryseredge.rise (&seredgerise); -// tryseredge.fall (&seredgefall); + + T1.rise (&temp_sensor_isr); MAH1.rise (& MAH_isr); // Set up interrupt vectors MAH1.fall (& MAH_isr); @@ -716,7 +753,6 @@ Servo1_i.mode (PullUp); Servo2_i.mode (PullUp); - pc.printf ("\tAbandon Hope %d\r\n", LED ? 0 : 1); // Setup system timers to cause periodic interrupts to synchronise and automate volt and current readings, loop repeat rate etc tick_vread.attach_us (&ISR_voltage_reader, VOLTAGE_READ_INTERVAL_US); // Start periodic interrupt generator loop_timer.attach_us (&ISR_loop_timer, MAIN_LOOP_REPEAT_TIME_US); // Start periodic interrupt generator @@ -724,39 +760,58 @@ const int TXTBUFSIZ = 36; char buff[TXTBUFSIZ]; - bool eerom_detected = false; pc.baud (9600); com3.baud (1200); com2.baud (19200); - pc.printf ("RAM test - "); - if (check_24LC64() != 0xa0) // searches for i2c devices, returns address of highest found + if (check_24LC64() != 0xa0) { // searches for i2c devices, returns address of highest found pc.printf ("Check for 24LC64 eeprom FAILED\r\n"); - else // i2c.write returned 0, think this means device responded with 'ACK', found it anyway - eerom_detected = true; - if (eerom_detected) { - bool j, k; - pc.printf ("ok\r\n"); - static const char ramtst[] = "I found the man sir!"; - j = wr_24LC64 (0x1240, (char*)ramtst, strlen(ramtst)); - for (int i = 0; i < TXTBUFSIZ; i++) buff[i] = 0; // Clear buffer - // need a way to check i2c busy - YES implemented ack_poll - k = rd_24LC64 (0x1240, buff, strlen(ramtst)); - pc.printf("Ram test returned [%s], wr ret'd [%s], rd ret'd [%s]\r\n", buff, j ? "true" : "false", k ? "true" : "false"); + com2.printf ("Check for 24LC64 eeprom FAILED\r\n"); } - T1 = 0; // As yet unused pins - T2 = 0; + else { // Found 24LC64 memory on I2C + bool k; +// static const char ramtst[] = "I found the man sir!"; +// j = wr_24LC64 (0x1240, (char*)ramtst, strlen(ramtst)); +// for (int i = 0; i < TXTBUFSIZ; i++) buff[i] = 0; // Clear buffer +// // need a way to check i2c busy - YES implemented ack_poll +// k = rd_24LC64 (0x1240, buff, strlen(ramtst)); +// pc.printf("Ram test returned [%s], wr ret'd [%s], rd ret'd [%s]\r\n", buff, j ? "true" : "false", k ? "true" : "false"); +// com2.printf("Ram test returned [%s], wr ret'd [%s], rd ret'd [%s]\r\n", buff, j ? "true" : "false", k ? "true" : "false"); + k = rd_24LC64 (0, buff, 32); +// if (k) +// com2.printf ("Good read from eeprom\r\n"); + if (!k) + com2.printf ("Error reading from eeprom\r\n"); + + int err = 0; + for (int i = 0; i < numofopts; i++) { + if ((buff[i] < option_list[i].min) || (buff[i] > option_list[i].max)) { + com2.printf ("EEROM error with %s\r\n", option_list[i].t); + err++; + } +// else +// com2.printf ("%2x Good %s\r\n", buff[i], option_list[i].t); + } + IAm = '0'; + if (err == 0) { + MotorA.direction_set (buff[0]); + MotorB.direction_set (buff[1]); + IAm = buff[6]; + } + // Alternative ID 1 to 9 +// com2.printf ("Alternative ID = 0x%2x\r\n", buff[6]); + } +// T1 = 0; Now interruptIn counting pulses from LMT01 temperature sensor + T2 = 0; // T2, T3, T4 As yet unused pins T3 = 0; T4 = 0; - T5 = 0; +// T5 = 0; now input from fw/re on remote control box T6 = 0; // MotPtr[0]->set_mode (REGENBRAKE); MotorA.set_mode (REGENBRAKE); MotorB.set_mode (REGENBRAKE); - MotorA.set_V_limit (0.9); - MotorB.set_V_limit (0.9); - MotorA.set_I_limit (0.5); - MotorB.set_I_limit (0.5); + setVI (0.9, 0.5); + Servos[0] = Servos[1] = NULL; // NOTE The ONLY way to get both servos working properly is to NOT use any if (bla) Servo ervo1(PB_8); // Only works with unconditional inline code @@ -788,37 +843,32 @@ break; } */ - MotorA.set_mode (FORWARD); - MotorB.set_mode (REVERSE); - MotorA.set_V_limit (0.2); - MotorB.set_V_limit (0.2); - MotorA.set_I_limit (0.5); - MotorB.set_I_limit (0.5); - while (1) { // Loop forever, repeats synchroised by waiting for ticker Interrupt Service Routine to set 'loop_flag' true while (!loop_flag) { // Most of the time is spent in this loop, repeatedly re-checking for commands from pc port command_line_interpreter () ; // Proceed beyond here once loop_timer ticker ISR has set loop_flag true AtoD_reader (); // Performs A to D conversions at rate set by ticker interrupts } loop_flag = false; // Clear flag set by ticker interrupt handler - Apps = MotorA.pulses_per_sec (); // Needed to keep table updated to give reading in Hall transitions per second - Bpps = MotorB.pulses_per_sec (); + MotorA.pulses_per_sec (); // Needed to keep table updated to give reading in Hall transitions per second + MotorB.pulses_per_sec (); // Read MotorX.PPS to read pulses per sec or MotorX.RPM to read motor RPM T4 = !T4; // toggle to hang scope on to verify loop execution // do stuff if (flag_8Hz) { // do slower stuff flag_8Hz = false; LED = !LED; // Toggle LED on board, should be seen to fast flash + WatchDog--; + if (WatchDog == 0) { // Deal with WatchDog timer timeout here + setVI (0.0, 0.0); // set motor volts and amps to zero + com2.printf ("TIMEOUT %2x\r\n", (I_Am() & 0x0f)); // Potential problem of multiple units reporting at same time overcome by adding board number to WATCHDOG_RELOAD + } // End of dealing with WatchDog timer timeout + if (WatchDog < 0) + WatchDog = 0; eighth_sec_count++; if (eighth_sec_count > 6) { // Send some status info out of serial port every second and a bit or thereabouts eighth_sec_count = 0; - MotorA.current_calc (); + MotorA.current_calc (); // Updates readings in MotorA.I.min, MotorA.I.ave and MotorA.I.max MotorB.current_calc (); -// Apps += Bpps; // to kill compiler warning -// pc.printf ("V=%+.2f, Pot=%+.2f, HA %d, HB %d, IA %d, IB %d, Arpm %d, Brpm %d\r\n", Read_BatteryVolts(), Read_DriverPot(), MotorA.read_Halls (), MotorB.read_Halls (), MotorA.I.ave, MotorB.I.ave, (Apps * 60) / 24, (Bpps * 60) / 24); - com2.printf ("V=%+.2f, Pot=%+.2f, HA %d, HB %d, IAmin %d, IAave %d, IAmax %d, IB %d, Arpm %d, Brpm %d\r\n", Read_BatteryVolts(), Read_DriverPot(), MotorA.read_Halls (), MotorB.read_Halls (), MotorA.I.min, MotorA.I.ave, MotorA.I.max, MotorB.I.ave, (Apps * 60) / 24, (Bpps * 60) / 24); -// pc.printf ("\tAangle_cnt %d\tAencoder_error_cnt %d", MotorA.angle_cnt, MotorA.encoder_error_cnt); -// pc.printf ("\tBangle_cnt %d\tBencoder_error_cnt %d, J3 %d\r\n", MotorB.angle_cnt, MotorB.encoder_error_cnt, J3 == 0 ? 0 : 1); -// com2.printf ("RCI1 pw %d, RCI2 pw %d, 1per %d, 2per %d\r\n", RCI1.pulsewidth(), RCI2.pulsewidth(), RCI1.period(), RCI2.period()); +// com2.printf ("V=%+.2f, Pot=%+.2f, HA %d, HB %d, IAmin %d, IAave %d, IAmax %d, IB %d, Arpm %d, Brpm %d\r\n", Read_BatteryVolts(), Read_DriverPot(), MotorA.read_Halls (), MotorB.read_Halls (), MotorA.I.min, MotorA.I.ave, MotorA.I.max, MotorB.I.ave, (Apps * 60) / 24, (Bpps * 60) / 24); } } // End of if(flag_8Hz) } // End of main programme loop