Diff: brushlessMotor.h

Revision:

4:71fb2b106f41

Parent:

3:7442d4801baa

Child:

5:027fe6d9a8a7

--- a/brushlessMotor.h	Thu May 12 20:09:46 2016 +0000
+++ b/brushlessMotor.h	Sun May 15 16:15:28 2016 +0000
@@ -1,9 +1,43 @@
-#ifndef BRUSHLESSCONTROLLER_TB6612FNG_H
-#define BRUSHLESSCONTROLLER_TB6612FNG_H
+#ifndef BRUSHLESSMOTOR_H
+#define BRUSHLESSMOTOR_H
 
 #include "mbed.h"
 
-/* Function Prototypes */
-void  brushlessControl(bool dir, int delay_time);
+
+const int pwmSin[] = { // pwmSin zijn waarden van sinus van 0 tot 255
+    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
+    };
+    
+class brushlessMotor{ //klasse van onze brushlessmotor
+    public:
+    //functies
+    brushlessMotor(PinName pin1, PinName pin2, PinName pin3); //constructor
+    void  brushlessControl(bool dir, int delay_time);
+    
+    //variabelen
+    PwmOut pwm[];   // PWM outputs van onze brushless motor
+    int step[3];                          // Array van onze 3 spoelen van onze motor, op welke stap zitten we?
+    int sinArraySize;                     // Hoe groot is de sinus array?
+    int phaseShift;                       // Phase shift tussen de spoelen --> 120%
+    
+  
+};
 
 #endif
\ No newline at end of file