CQ_KIT_Ver1_5
Dependencies: mbed RateLimiter BLDCmotorDriverCQ_KIT_Ver1_5
main.cpp
- Committer:
- kenya8787
- Date:
- 2022-08-30
- Revision:
- 14:391dacb6c9ea
- Parent:
- 13:038b62c7ac17
File content as of revision 14:391dacb6c9ea:
/* mbed Microcontroller Library * Copyright (c) 2006-2016 ARM Limited * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * * http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. */ // This example is based on the BLDCmotorDriver motor control library // by the TVZ Mechatronics Team, University of Applied Sciences Zagreb, // Professional Study in Mechatronics: // https://developer.mbed.org/teams/TVZ-Mechatronics-Team/code/BLDCmotorDriver/ #include <stdio.h> #include "mbed.h" #include "RateLimiter.h" #include "SPN7Driver.h" // Pin definitions for X-NUCLEO-IHM070M1 with STM32 Nucleo boards #include "x_nucleo_ihm07m1_targets.h" // Instance of the motor driver SPN7Driver M( P_IN1, P_IN2, P_IN3, // Logic input pins P_EN1, P_EN2, P_EN3, // Enable channel pins P_HALL1, P_HALL2, P_HALL3, // Hall sensors pins P_FAULT // Fault LED ); // Pin to check temperature on the X-NUCLEO-IHM07M1 board AnalogIn temperature(P_TEMP); void checkTemperature() { float t = temperature; // if (temperature > 0.55f){ if (temperature < 0.38f){ printf("Overheating... Turning off now,temp %1.2f \n\r",t); M.setDutyCycle(0); M.coast(); } } // Pin to check current on the X-NUCLEO-IHM07M1 board AnalogIn current_u(P_CURR1),current_v(P_CURR2),current_w(P_CURR3); void checkCurrent() { } int main() { printf("Press 'w' to speed up, 's' to speed down\n\r"); // Duty cycle value to be used for speed control // Positive for clockwise; negative for anti-clockwise float dc = 0.0f; Ticker ticker; ticker.attach(checkTemperature, 1); // Periodic overheating check // ticker.attach_us(checkCurrent,1000000); // current control interbal 10ms // ticker.attach(checkCurrent,1); // current control interbal 10ms while(true) { // char c = getchar(); // if((c == 'w') && (dc < 0.9f)) { // dc += 0.1f; // M.setDutyCycle(dc); // } // if((c == 's') && (dc > -0.9f)) { // dc -= 0.1f; // M.setDutyCycle(dc); // } AnalogIn SPEED(P_SPEED); float S; S = SPEED + 0.001f; if(S >0.999f) S = 0.999; dc = S; M.setDutyCycle(dc); float im[3]; im[0] = current_u; im[1] = current_v; im[2] = current_w; printf("iu,iv,iw= %1.3f,%1.3f,%1.3f \n\r",im[0],im[1],im[2]); // printf("Duty Cycle: %1.2f, Sector: %d, SPEED: %1.2f \n\r",dc, M.getSector(),S); } }