akiyoshi oguro
/
F302R8_OPEN_BLDC
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Revision 0:3b5242119d17, committed 2020-08-27
- Comitter:
- oguro
- Date:
- Thu Aug 27 03:03:43 2020 +0000
- Commit message:
- OPEN Drive Trapezoid
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
| mbed.bld | Show annotated file Show diff for this revision Revisions of this file |
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Thu Aug 27 03:03:43 2020 +0000
@@ -0,0 +1,145 @@
+#include "mbed.h"
+int i=0,t=0,tt=0,q=0,START=4;
+unsigned int adc;
+PwmOut mypwmA(PA_8); //PWM_OUT 8
+PwmOut mypwmB(PA_9); //9
+PwmOut mypwmC(PA_10);//10
+
+PwmOut Current_Ref(PB_4);
+
+DigitalOut EN1(PC_10);
+DigitalOut EN2(PC_11);
+DigitalOut EN3(PC_12);
+
+
+AnalogIn V_adc(PC_2);
+AnalogOut CP_re(PA_4);
+
+Serial pc(USBTX,USBRX);
+
+
+float Vr_adc=0.0f;
+float Speed=0;
+
+int main() {
+ pc.baud(128000);
+ EN1=0;
+ EN2=0;
+ EN3=0;
+
+ mypwmA.period_us(20);
+
+ mypwmB.period_us(20);
+
+ mypwmC.period_us(20);
+
+
+ while(1) {
+
+ Vr_adc=V_adc.read();
+ adc= V_adc.read_u16()/35 ; //>>5
+
+
+ while((Vr_adc>0.15f)&&(q<50)){
+
+ EN1=1;
+ EN2=1;
+ EN3=0;
+ mypwmA.write(0.7f);
+ mypwmB=0;
+ mypwmC=0;
+ wait_ms(START);
+ EN1=1;
+ EN2=0;
+ EN3=1;
+ wait_ms(START);
+ EN1=0;
+ EN2=1;
+ EN3=1;
+ mypwmA=0;
+ mypwmB.write(0.7f);
+ mypwmC=0;
+ wait_ms(START);
+ EN1=1;
+ EN2=1;
+ EN3=0;
+ wait_ms(START);
+ EN1=1;
+ EN2=0;
+ EN3=1;
+ mypwmA=0;
+ mypwmB=0;
+ mypwmC.write(0.7f);
+ wait_ms(START);
+ EN1=0;
+ EN2=1;
+ EN3=1;
+ q++;
+ wait_ms(START);
+ }
+
+ if(Vr_adc < 0.005f){
+ q=0;
+ }
+
+ t=3000-(adc);//3000
+ if(t<=2){
+ t=2;
+ }
+ tt=t;
+
+
+if(Vr_adc >0.05f){
+
+
+ EN1=1; //1
+ EN2=1; //1
+ EN3=0; //0
+
+ mypwmA.write(Vr_adc);
+ mypwmB.write(0.0f);
+ mypwmC.write(0.0f);
+
+ wait_us(t);
+
+ EN1=1; //1
+ EN2=0; //0
+ EN3=1; //1
+ wait_us(tt);
+
+ EN1=0; //0
+ EN2=1; //1
+ EN3=1; //1
+ mypwmA.write(0.0f);
+ mypwmB.write(Vr_adc);
+ mypwmC.write(0.0f);
+
+ wait_us(t);
+ EN1=1;//1
+ EN2=1;//1
+ EN3=0;//0
+ wait_us(tt);
+
+ EN1=1; //1
+ EN2=0; //0
+ EN3=1; //1
+ mypwmA.write(0.0f);
+ mypwmB.write(0.0f);
+ mypwmC.write(Vr_adc);
+ wait_us(t);
+ EN1=0; //0
+ EN2=1; //1
+ EN3=1; //1
+
+ wait_us(tt);
+ }
+ else{
+ mypwmA.write(0.0f);
+ mypwmB.write(0.0f);
+ mypwmC.write(0.0f);
+ }
+ Speed=60*(1/(7.0*6*float(t)*1E-6))-476;
+ pc.printf("%.3f , %.3f \r" ,Speed ,Vr_adc);
+
+ }
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Thu Aug 27 03:03:43 2020 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/6c34061e7c34 \ No newline at end of file