DIY ESC uten hall sensor

Opprettet 21. januar 2018 | Sist oppdatert 12. august 2018 | Publisert 21. januar 2018 | Utskrift

https://simple-circuit.com/arduino-sensorless-bldc-motor-controller-esc/

esc diy med sensor: https://simple-circuit.com/arduino-cd-rom-brushless-motor-control/
esc diy uten sensor: https://simple-circuit.com/arduino-cd-rom-brushless-motor-control/

hall effekt sensors: jord – A – B – C – jord – 5v

// Sensorless brushless DC (BLDC) motor control with Arduino UNO (Arduino DIY ESC).

// This is a free software without any warranty.

#define SPEED_UP A0
#define SPEED_DOWN A1
#define PWM_MAX_DUTY 255
#define PWM_MIN_DUTY 50

#define PWM_START_DUTY 100

byte bldc_step = 0, motor_speed;

unsigned int i;

void setup() {

DDRD |= 0x38; // Configure pins 3, 4 and 5 as outputs

PORTD = 0x00;

DDRB |= 0x0E; // Configure pins 9, 10 and 11 as outputs

PORTB = 0x31;

// Timer1 module setting: set clock source to clkI/O / 1 (no prescaling)

TCCR1A = 0;

TCCR1B = 0x01;

// Timer2 module setting: set clock source to clkI/O / 1 (no prescaling)

TCCR2A = 0;

TCCR2B = 0x01;

// Analog comparator setting

ACSR = 0x10; // Disable and clear (flag bit) analog comparator interrupt

pinMode(SPEED_UP, INPUT_PULLUP);

pinMode(SPEED_DOWN, INPUT_PULLUP);

}

// Analog comparator ISR

ISR (ANALOG_COMP_vect) {

// BEMF debounce

for(i = 0; i < 10; i++) {

if(bldc_step & 1){

if(!(ACSR & 0x20)) i -= 1;

}

else {

if((ACSR & 0x20)) i -= 1;

}

bldc_move();

bldc_step++;

bldc_step %= 6;

}

void bldc_move(){ // BLDC motor commutation function

switch(bldc_step){

case 0:

AH_BL();

BEMF_C_RISING();

break;

case 1:

AH_CL();

BEMF_B_FALLING();

break;

case 2:

BH_CL();

BEMF_A_RISING();

break;

case 3:

BH_AL();

BEMF_C_FALLING();

break;

case 4:

CH_AL();

BEMF_B_RISING();

break;

case 5:

CH_BL();

BEMF_A_FALLING();

break;

}

void loop() {

SET_PWM_DUTY(PWM_START_DUTY); // Setup starting PWM with duty cycle = PWM_START_DUTY

i = 5000;

// Motor start

while(i > 100) {

delayMicroseconds(i);

bldc_move();

bldc_step++;

bldc_step %= 6;

i = i - 20;

}

motor_speed = PWM_START_DUTY;

ACSR |= 0x08; // Enable analog comparator interrupt

while(1) {

while(!(digitalRead(SPEED_UP)) && motor_speed < PWM_MAX_DUTY){

motor_speed++;

SET_PWM_DUTY(motor_speed);

delay(100);

}

while(!(digitalRead(SPEED_DOWN)) && motor_speed > PWM_MIN_DUTY){

motor_speed--;

SET_PWM_DUTY(motor_speed);

delay(100);

}

void BEMF_A_RISING(){

ADCSRB = (0 << ACME); // Select AIN1 as comparator negative input

ACSR |= 0x03; // Set interrupt on rising edge

}

void BEMF_A_FALLING(){

ADCSRB = (0 << ACME); // Select AIN1 as comparator negative input

ACSR &= ~0x01; // Set interrupt on falling edge

}

void BEMF_B_RISING(){

ADCSRA = (0 << ADEN); // Disable the ADC module

ADCSRB = (1 << ACME);

ADMUX = 2; // Select analog channel 2 as comparator negative input

ACSR |= 0x03;

}

void BEMF_B_FALLING(){

ADCSRA = (0 << ADEN); // Disable the ADC module

ADCSRB = (1 << ACME);

ADMUX = 2; // Select analog channel 2 as comparator negative input

ACSR &= ~0x01;

}

void BEMF_C_RISING(){

ADCSRA = (0 << ADEN); // Disable the ADC module

ADCSRB = (1 << ACME);

ADMUX = 3; // Select analog channel 3 as comparator negative input

ACSR |= 0x03;

}

void BEMF_C_FALLING(){

ADCSRA = (0 << ADEN); // Disable the ADC module

ADCSRB = (1 << ACME);

ADMUX = 3; // Select analog channel 3 as comparator negative input

ACSR &= ~0x01;

}

void AH_BL(){

PORTB = 0x04;

PORTD &= ~0x18;

PORTD |= 0x20;

TCCR1A = 0; // Turn pin 11 (OC2A) PWM ON (pin 9 & pin 10 OFF)

TCCR2A = 0x81; //

}

void AH_CL(){

PORTB = 0x02;

PORTD &= ~0x18;

PORTD |= 0x20;

TCCR1A = 0; // Turn pin 11 (OC2A) PWM ON (pin 9 & pin 10 OFF)

TCCR2A = 0x81; //

}

void BH_CL(){

PORTB = 0x02;

PORTD &= ~0x28;

PORTD |= 0x10;

TCCR2A = 0; // Turn pin 10 (OC1B) PWM ON (pin 9 & pin 11 OFF)

TCCR1A = 0x21; //

}

void BH_AL(){

PORTB = 0x08;

PORTD &= ~0x28;

PORTD |= 0x10;

TCCR2A = 0; // Turn pin 10 (OC1B) PWM ON (pin 9 & pin 11 OFF)

TCCR1A = 0x21; //

}

void CH_AL(){

PORTB = 0x08;

PORTD &= ~0x30;

PORTD |= 0x08;

TCCR2A = 0; // Turn pin 9 (OC1A) PWM ON (pin 10 & pin 11 OFF)

TCCR1A = 0x81; //

}

void CH_BL(){

PORTB = 0x04;

PORTD &= ~0x30;

PORTD |= 0x08;

TCCR2A = 0; // Turn pin 9 (OC1A) PWM ON (pin 10 & pin 11 OFF)

TCCR1A = 0x81; //

}

void SET_PWM_DUTY(byte duty){

if(duty < PWM_MIN_DUTY)

duty = PWM_MIN_DUTY;

if(duty > PWM_MAX_DUTY)

duty = PWM_MAX_DUTY;

OCR1A = duty; // Set pin 9 PWM duty cycle

OCR1B = duty; // Set pin 10 PWM duty cycle

OCR2A = duty; // Set pin 11 PWM duty cycle

}

http://www.instructables.com/id/Make-Your-Own-ESC/

/* Lokomotivstyring med Bluetooth RC Controller
* kontroller funger for fram og tilbake
* Slår av/på hovedlys og bremselys
* funksjon for fløyte.
*
* to av utgangene på motorkontrolerne styrer motoren.
* De to andre styrer lys foran og bak
*
*/

//#include <Tone.h>
//pulsbredde på pinnene 3, 5, 6, 9, 10, and 11.
//#include <Servo.h>
//#include <L293.h>
#define pinForward 8
#define pinBack 5
#define pinSpeedForwardBack 9
#define pinFrontLights 6
#define pinBackLights 3
#define pinFrontSteering 10
#define bluetooth Serial1
#define MotorA 10
#define MotorB 11
#define floyte 4
#define lok
#define debug

/*
* F: fram
* B: bak
* R: høyre
* L: venstre
* G: venstre fram
* H: venstre tilbake
* J: høyre tilbake
* I: høyre fram
* W: hovdelys på
* w: hovdlys av
* U: baklys(bremselys) på
* u: baklys (bremselys) av
* V: Horn på
* v: horn av
* X: varsellys på
* x: varsellys av
*
*/
int fart=100;
int frontlysstyrke=100;
int baklysstyrke=100;

void setup() {
// put your setup code here, to run once:
Serial.begin(115200);
Serial.println(__FILE__);
// Serial1.begin(115200);
// Serial1.println("AT");
pinMode(pinFrontLights, OUTPUT);
pinMode(pinBackLights, OUTPUT);
// leftRight.attach(pinFrontSteering);
// bluetooth.begin(115200);
pinMode(MotorA, OUTPUT); // MOTOR1
pinMode(MotorB, OUTPUT);
digitalWrite(MotorA, LOW); // stop
digitalWrite(MotorB, LOW); //
tone(floyte,400,500); // fløyte

}

void loop() {
// Serial1.println("blue..");
while (Serial.available())
{
char c=Serial.read();
switch (c) {
// case '1'..'9':setfart(c);break;
case 'F': forward();break;
case 'B': back() ;break;
case 'L': break;//left();break;
case 'R': break;//right();break;
case 'G': break;//left_forward();break;
case 'H': break;//left_back();break;
case 'J': break;// right_back();break;
case 'I': break;// right_forward();break;
case 'W': hovedlys_pa();break;
case 'w': hovedlys_av();break;
case 'U': bremselys_pa();break;
case 'u': bremselys_av();break;
case 'V': horn_pa();break;
case 'v': horn_av();break;
case 'X': break;// varsellys_pa();break;
case 'x': break;// varsellys_av();break;
default: stopp();break;
}
}
}

void forward() {digitalWrite(MotorA,LOW); analogWrite(MotorB, fart); }
void back() {digitalWrite(MotorA,HIGH); analogWrite(MotorB, 255-fart); }
void stopp() {digitalWrite(MotorA,LOW); digitalWrite(MotorB,LOW); }
void hovedlys_pa() {analogWrite(pinFrontLights,frontlysstyrke); }
void hovedlys_av() {analogWrite(pinFrontLights,0) ;}
void bremselys_pa() {analogWrite(pinBackLights,baklysstyrke); }
void bremselys_av() {analogWrite(pinBackLights,0) ; }
void horn_pa() { tone(floyte,400,500); } // fløyte
void horn_av() { tone(floyte,400,500); } // fløyte
// void varsellys_pa() {analogWrite(pinBackLights,baklysstyrke) }
// void varsellys_av() {analogWrite(pinBackLights,0) }
void setfart(char i)
{

}

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DIY ESC uten hall sensor

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