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
Radio_Control_In.cpp
- Committer:
- JonFreeman
- Date:
- 2019-03-04
- Revision:
- 12:d1d21a2941ef
- Parent:
- 11:bfb73f083009
- Child:
- 14:acaa1add097b
File content as of revision 12:d1d21a2941ef:
#include "mbed.h" #include "BufferedSerial.h" #include "Radio_Control_In.h" /**class RControl_In Jon Freeman Jan 2019 Checks for __-__ duration 800-2200us Checks repetition rate in range 5-25ms */ extern BufferedSerial pc; // RControl_In::RControl_In () { // Default Constructor // pulse_width_us = period_us = pulse_count = 0; // lost_chan_return_value = 0.0; // } ; // RControl_In::RControl_In (PinName inp) : pulse_in(inp) { // Default Constructor // pulse_width_us = period_us = pulse_count = 0; // lost_chan_return_value = 0.0; // } ; /** */ void RControl_In::set_lost_chan_return_value (double d) { lost_chan_return_value = d; } uint32_t RControl_In::pulsewidth () { return pulse_width_us; } uint32_t RControl_In::pulsecount () { return pulse_count; } uint32_t RControl_In::period () { return period_us; } void RControl_In::reset () { pulse_width_us = period_us = pulse_count = 0; t.reset (); } bool RControl_In::validate_rx () { // Tests for pulse width and repetition rates being believable return !((period_us < 5000) || (period_us > 25000) || (pulse_width_us < 800) || (pulse_width_us > 2200)); } double RControl_In::normalised () { if (!validate_rx()) { pc.printf ("Invalid RCin\r\n"); return lost_chan_return_value; // ** WHAT TO RETURN WHEN RC NOT ACTIVE ? ** This is now user settable } // Defaults to returning 0.0, user should call set_lost_chan_value (value) to alter double norm = (double) (pulse_width_us - 1000); // left with -200 to + 1200 allowing for some margin norm /= 1000.0; if (norm > 1.0) norm = 1.0; if (norm < 0.0) norm = 0.0; return norm; } void RControl_In::RadC_rise () // December 2018 - Could not make Servo port bidirectional, fix by using PC_14 and 15 as inputs { period_us = t.read_us (); t.reset (); t.start (); } void RControl_In::RadC_fall () { pulse_width_us = t.read_us (); pulse_count++; } // end of RControl_In class