File content as of revision 2:146ff0747375:

#include "mycontroller.h"

//const int pwmSin[] = {128, 132, 136, 140, 143, 147, 151, 155, 159, 162, 166, 170, 174, 178, 181, 185, 189, 192, 196, 200, 203, 207, 211, 214, 218, 221, 225, 228, 232, 235, 238, 239, 240, 241, 242, 243, 244, 245, 246, 247, 248, 248, 249, 250, 250, 251, 252, 252, 253, 253, 253, 254, 254, 254, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 254, 254, 254, 253, 253, 253, 252, 252, 251, 250, 250, 249, 248, 248, 247, 246, 245, 244, 243, 242, 241, 240, 239, 238, 239, 240, 241, 242, 243, 244, 245, 246, 247, 248, 248, 249, 250, 250, 251, 252, 252, 253, 253, 253, 254, 254, 254, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 254, 254, 254, 253, 253, 253, 252, 252, 251, 250, 250, 249, 248, 248, 247, 246, 245, 244, 243, 242, 241, 240, 239, 238, 235, 232, 228, 225, 221, 218, 214, 211, 207, 203, 200, 196, 192, 189, 185, 181, 178, 174, 170, 166, 162, 159, 155, 151, 147, 143, 140, 136, 132, 128, 124, 120, 116, 113, 109, 105, 101, 97, 94, 90, 86, 82, 78, 75, 71, 67, 64, 60, 56, 53, 49, 45, 42, 38, 35, 31, 28, 24, 21, 18, 17, 16, 15, 14, 13, 12, 11, 10, 9, 8, 8, 7, 6, 6, 5, 4, 4, 3, 3, 3, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 3, 3, 3, 4, 4, 5, 6, 6, 7, 8, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 17, 16, 15, 14, 13, 12, 11, 10, 9, 8, 8, 7, 6, 6, 5, 4, 4, 3, 3, 3, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 3, 3, 3, 4, 4, 5, 6, 6, 7, 8, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 21, 24, 28, 31, 35, 38, 42, 45, 49, 53, 56, 60, 64, 67, 71, 75, 78, 82, 86, 90, 94, 97, 101, 105, 109, 113, 116, 120, 124};

const int pwmSin[102] = {127,135,143,150,158,166,173,180,187,194,201,207,213,219,224,229,233,237,241,244,247,250,252,253,254,254,254,254,253,252,250,247,244,241,237,233,229,224,219,213,207,201,194,187,180,173,166,158,150,143,135,127,119,111,104,96,88,81,74,67,60,53,47,41,35,30,25,21,17,13,10,7,4,2,1,0,0,0,0,1,2,4,7,10,13,17,21,25,30,35,41,47,53,60,67,74,81,88,96,104,111,119};


//PwmOut pwm[] = {(PA_10),(PA_6),(PB_6)};
//DigitalOut enableA(PA_7);
//DigitalOut enableB(PA_9);

PwmOut pwm[] = {(PB_1),(PB_10),(PB_5)};
DigitalOut enableA(PB_4);
DigitalOut enableB(PC_4);


brushlessservo::brushlessservo(PwmOut &p_pwm1,PwmOut &p_pwm2,PwmOut &p_pwm3,DigitalOut &p_enableA,DigitalOut &p_enableB) : pwm1(p_pwm1), pwm2(p_pwm2), pwm3(p_pwm3), enableA(p_enableA), enableB(p_enableB)
{
//brushlessservo::brushlessservo()
//{
        
    sineArraySize = sizeof(pwmSin)/sizeof(int); 
    int phaseShift = sineArraySize / 3;
    
    enableA=1;
    enableB=1;
    
    
    phase[0]=0;
    phase[1]=phase[0]+phaseShift;
    phase[2]=phase[1]+phaseShift;
    
    direction=1;
    /*
    for(int i = 0;i<3;i++){
        pwm[i]=pwmSin[phase[i]]/255.0;
        pwm[i].period(1/20000.0);
        };
    */
    pwm1.period(1/20000.0);
    pwm2.period(1/20000.0);
    pwm3.period(1/20000.0);
    
    pwm1=pwmSin[phase[0]]/255.0;
    pwm2=pwmSin[phase[1]]/255.0;
    pwm3=pwmSin[phase[2]]/255.0;
    
    realtheta=0;
    
}

void brushlessservo::gotothetha(int32_t theta)
{
    int32_t theta_diff;
    theta_diff = theta - realtheta;
    
    if(theta_diff<0)
    {
        direction=0;
        theta_diff=-theta_diff;    
    }
    else
    {
        direction=1;
    }
    
    
    for(int i =0;i<theta_diff/5;i++)
    {
     /*   for(int j=0;j<3;j++)
        {
            if(direction==1){
                phase[j]+=1;
                phase[j]%=sineArraySize;
            } 
            else
            {
                phase[j]-=1;
                phase[j]%=sineArraySize;
                if(phase[j]<0)
                {
                    phase[j]+=sineArraySize;
                }
            }       
            pwm[j]=pwmSin[phase[j]]/255.0;    
        }
        */
        if(direction==1){
                phase[0]+=1;
                phase[1]+=1;
                phase[2]+=1;
                
                phase[0]%=sineArraySize;
                phase[1]%=sineArraySize;
                phase[2]%=sineArraySize;
            } 
            else
            {
                phase[0]-=1;
                phase[1]-=1;
                phase[2]-=1;
                
                phase[0]%=sineArraySize;
                phase[1]%=sineArraySize;
                phase[2]%=sineArraySize;
                if(phase[0]<0){
                    phase[0]+=sineArraySize;
                }
                if(phase[1]<0){
                    phase[1]+=sineArraySize;
                }
                if(phase[2]<0){
                    phase[2]+=sineArraySize;
                }
            }       
            pwm1=pwmSin[phase[0]]/255.0;   
            pwm2=pwmSin[phase[1]]/255.0;   
            pwm3=pwmSin[phase[2]]/255.0;   
        
        
        direction?realtheta+=5:realtheta-=5;
        wait_ms(1);
    }
}


void brushlessservo::test()
{
    /*
    for(int j=0;j<3;j++){
        pwm[j]=0.5;
    }
      */  
}



void brushlessservo::updatepwm()
{
       
}