//
Dependents: gimbalController_brushless_IMU
Fork of brushlessController_TB6612FNG by
brushlessMotor.h@5:027fe6d9a8a7, 2016-05-16 (annotated)
- Committer:
- alfaleader
- Date:
- Mon May 16 09:50:08 2016 +0000
- Revision:
- 5:027fe6d9a8a7
- Parent:
- 4:71fb2b106f41
d
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
alfaleader | 4:71fb2b106f41 | 1 | #ifndef BRUSHLESSMOTOR_H |
alfaleader | 4:71fb2b106f41 | 2 | #define BRUSHLESSMOTOR_H |
BaserK | 0:fcf00057b1a3 | 3 | |
BaserK | 0:fcf00057b1a3 | 4 | #include "mbed.h" |
BaserK | 0:fcf00057b1a3 | 5 | |
alfaleader | 4:71fb2b106f41 | 6 | |
alfaleader | 4:71fb2b106f41 | 7 | const int pwmSin[] = { // pwmSin zijn waarden van sinus van 0 tot 255 |
alfaleader | 4:71fb2b106f41 | 8 | 128, 132, 136, 140, 143, 147, 151, 155, 159, 162, 166, 170, 174, 178, 181, 185, 189, 192, 196, 200, |
alfaleader | 4:71fb2b106f41 | 9 | 203, 207, 211, 214, 218, 221, 225, 228, 232, 235, 238, 239, 240, 241, 242, 243, 244, 245, 246, 247, |
alfaleader | 4:71fb2b106f41 | 10 | 248, 248, 249, 250, 250, 251, 252, 252, 253, 253, 253, 254, 254, 254, 255, 255, 255, 255, 255, 255, |
alfaleader | 4:71fb2b106f41 | 11 | 255, 255, 255, 255, 255, 255, 255, 254, 254, 254, 253, 253, 253, 252, 252, 251, 250, 250, 249, 248, |
alfaleader | 4:71fb2b106f41 | 12 | 248, 247, 246, 245, 244, 243, 242, 241, 240, 239, 238, 239, 240, 241, 242, 243, 244, 245, 246, 247, |
alfaleader | 4:71fb2b106f41 | 13 | 248, 248, 249, 250, 250, 251, 252, 252, 253, 253, 253, 254, 254, 254, 255, 255, 255, 255, 255, 255, |
alfaleader | 4:71fb2b106f41 | 14 | 255, 255, 255, 255, 255, 255, 255, 254, 254, 254, 253, 253, 253, 252, 252, 251, 250, 250, 249, 248, |
alfaleader | 4:71fb2b106f41 | 15 | 248, 247, 246, 245, 244, 243, 242, 241, 240, 239, 238, 235, 232, 228, 225, 221, 218, 214, 211, 207, |
alfaleader | 4:71fb2b106f41 | 16 | 203, 200, 196, 192, 189, 185, 181, 178, 174, 170, 166, 162, 159, 155, 151, 147, 143, 140, 136, 132, |
alfaleader | 4:71fb2b106f41 | 17 | 128, 124, 120, 116, 113, 109, 105, 101, 97, 94, 90, 86, 82, 78, 75, 71, 67, 64, 60, 56, |
alfaleader | 4:71fb2b106f41 | 18 | 53, 49, 45, 42, 38, 35, 31, 28, 24, 21, 18, 17, 16, 15, 14, 13, 12, 11, 10, 9, |
alfaleader | 4:71fb2b106f41 | 19 | 8, 8, 7, 6, 6, 5, 4, 4, 3, 3, 3, 2, 2, 2, 1, 1, 1, 1, 1, 1, |
alfaleader | 4:71fb2b106f41 | 20 | 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 3, 3, 3, 4, 4, 5, 6, 6, 7, 8, |
alfaleader | 4:71fb2b106f41 | 21 | 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 17, 16, 15, 14, 13, 12, 11, 10, 9, |
alfaleader | 4:71fb2b106f41 | 22 | 8, 8, 7, 6, 6, 5, 4, 4, 3, 3, 3, 2, 2, 2, 1, 1, 1, 1, 1, 1, |
alfaleader | 4:71fb2b106f41 | 23 | 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 3, 3, 3, 4, 4, 5, 6, 6, 7, 8, |
alfaleader | 4:71fb2b106f41 | 24 | 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 21, 24, 28, 31, 35, 38, 42, 45, 49, |
alfaleader | 4:71fb2b106f41 | 25 | 53, 56, 60, 64, 67, 71, 75, 78, 82, 86, 90, 94, 97, 101, 105, 109, 113, 116, 120, 124 |
alfaleader | 4:71fb2b106f41 | 26 | }; |
alfaleader | 4:71fb2b106f41 | 27 | |
alfaleader | 4:71fb2b106f41 | 28 | class brushlessMotor{ //klasse van onze brushlessmotor |
alfaleader | 4:71fb2b106f41 | 29 | public: |
alfaleader | 4:71fb2b106f41 | 30 | //functies |
alfaleader | 4:71fb2b106f41 | 31 | brushlessMotor(PinName pin1, PinName pin2, PinName pin3); //constructor |
alfaleader | 4:71fb2b106f41 | 32 | void brushlessControl(bool dir, int delay_time); |
alfaleader | 4:71fb2b106f41 | 33 | |
alfaleader | 4:71fb2b106f41 | 34 | //variabelen |
alfaleader | 5:027fe6d9a8a7 | 35 | PwmOut pwm1; // PWM outputs van onze brushless motor |
alfaleader | 5:027fe6d9a8a7 | 36 | PwmOut pwm2; |
alfaleader | 5:027fe6d9a8a7 | 37 | PwmOut pwm3; |
alfaleader | 4:71fb2b106f41 | 38 | int step[3]; // Array van onze 3 spoelen van onze motor, op welke stap zitten we? |
alfaleader | 4:71fb2b106f41 | 39 | int sinArraySize; // Hoe groot is de sinus array? |
alfaleader | 4:71fb2b106f41 | 40 | int phaseShift; // Phase shift tussen de spoelen --> 120% |
alfaleader | 4:71fb2b106f41 | 41 | |
alfaleader | 4:71fb2b106f41 | 42 | |
alfaleader | 4:71fb2b106f41 | 43 | }; |
BaserK | 0:fcf00057b1a3 | 44 | |
BaserK | 0:fcf00057b1a3 | 45 | #endif |