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: Radio_Control_In.h
- Revision:
- 16:d1e4b9ad3b8b
- Parent:
- 12:d1d21a2941ef
--- a/Radio_Control_In.h Sat Nov 30 18:40:30 2019 +0000 +++ b/Radio_Control_In.h Tue Jun 09 09:20:19 2020 +0000 @@ -1,6 +1,8 @@ #include "mbed.h" #ifndef MBED_JONS_RADIO_CONTROL_IN_H #define MBED_JONS_RADIO_CONTROL_IN_H +#include "brushless_motor.h" +extern const uint32_t MOTOR_HANDBRAKE, MOTOR_FORWARD, MOTOR_REVERSE, MOTOR_REGENBRAKE; /**class RControl_In Jon Freeman @@ -13,26 +15,35 @@ { InterruptIn pulse_in; Timer t; - int32_t pulse_width_us, period_us, pulse_count; - double lost_chan_return_value; + int32_t pulse_width_us, period_us, pulse_count, tmp; + uint32_t state, chan_mode, stick_sense; // New Dec 2019 + double norm, V, I, stick_deviation, stick_deviation_old; // New Dec 2019 + double lost_chan_return_value, brake_segment, effort, stick_attack; + double range_offset; void RadC_rise (); void RadC_fall (); public: -// RControl_In () ; // Default Constructor - RControl_In (PinName inp) : pulse_in(inp) { // Default Constructor + RControl_In (PinName inp) : pulse_in(inp) { // Constructor pulse_in.mode (PullDown); pulse_in.rise(callback(this, &RControl_In::RadC_rise)); // Attach handler to the rising interruptIn edge pulse_in.fall(callback(this, &RControl_In::RadC_fall)); // Attach handler to the falling interruptIn edge - pulse_width_us = period_us = pulse_count = 0; + pulse_width_us = period_us = pulse_count = stick_sense = tmp = 0; + state = MOTOR_REGENBRAKE; // New Dec 2019 + norm = V = I = stick_deviation = stick_deviation_old = 0.0; // New Dec 2019 lost_chan_return_value = 0.0; + range_offset = 0.0; + stick_attack = 0.5; } ; bool validate_rx () ; // Informs whether signal being rx'd - void reset () ; void set_lost_chan_return_value (double) ; // set what 'normalised' returns when no signal - uint32_t pulsecount () ; // will count up at frame rate when radio control all working well - uint32_t pulsewidth () ; - uint32_t period () ; - double normalised (); // Returns 0.0 <= p <= 1.0 or something else when rc not active + void set_offset (signed char, char, char); // signed char offs, char brake_pcent, char attack + void set_chanmode (char, char); // 1 Disable, Uni, Bi; 2 norm/rev + uint32_t get_chanmode () ; + uint32_t pulsecount () ; // will count up at frame rate when radio control all working well + uint32_t pulsewidth () ; // + uint32_t period () ; // checked for believable repetition rate + bool read (struct RC_stick_info &) ; + bool energise (struct RC_stick_info &, struct brushless_motor &) ; } ; #endif