//
Dependents: gimbalController_brushless_IMU
Fork of brushlessController_TB6612FNG by
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