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.h
- Committer:
- JonFreeman
- Date:
- 2020-06-09
- Revision:
- 16:d1e4b9ad3b8b
- Parent:
- 12:d1d21a2941ef
File content as of revision 16:d1e4b9ad3b8b:
#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 Jan 2019 Checks for __-__ duration 800-2200us Checks repetition rate in range 5-25ms */ class RControl_In // Class to Read servo style pwm input _____-_____ { InterruptIn pulse_in; Timer t; 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 (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 = 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 set_lost_chan_return_value (double) ; // set what 'normalised' returns when no signal 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