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Motor_Driver_UC2950.ino
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Motor_Driver_UC2950.ino
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#include <avr/io.h>
#include <avr/interrupt.h>
int a=0,flag=1;
int pwm_value=255;
volatile uint16_t Ticks_new=0,Ticks=0,temp=0,Target_Ticks=315;
volatile float Intg=0;
/*float Kp=0.28,Ki=0,Kd=0.0035,pid=0,dt=0.004096;*/
int Hall1=21,Hall2=20,Hall3=19;
int S1=4,S2=5,S3=6,S4=7,S5=8,S6=9;
bool direction=true; //1-cw,0-ccw
void Stop(){
analogWrite(S1,255);
analogWrite(S3,255);
analogWrite(S5,255);
analogWrite(S2,0);
analogWrite(S4,0);
analogWrite(S6,0);
}
volatile int HallValue(){
return((digitalRead(Hall1))+(digitalRead(Hall2)*2)+(digitalRead(Hall3)*4));//Bases are 1,2,4.
}
void Check_PWM_CW(volatile int HallValue){
switch(HallValue){
case 0: {
Stop();
break;
}
case 3: { //0. +. -
analogWrite(S1,0);
analogWrite(S2,pwm_value);
analogWrite(S3,255);
analogWrite(S4,0);
analogWrite(S5,0);
analogWrite(S6,0);
break;
}
case 2: { //-. +. 0
analogWrite(S1,0);
analogWrite(S2,0);
analogWrite(S3,255);
analogWrite(S4,0);
analogWrite(S5,0);
analogWrite(S6,pwm_value);
break;
}
case 6: { //-. 0. +
analogWrite(S1,0);
analogWrite(S2,0);
analogWrite(S3,0);
analogWrite(S4,pwm_value);
analogWrite(S5,255);
analogWrite(S6,0);
break;
}
case 4: { //0. -. +
analogWrite(S1,0);
analogWrite(S2,pwm_value);
analogWrite(S3,0);
analogWrite(S4,0);
analogWrite(S5,255);
analogWrite(S6,0);
break;
}
case 5: { //+. -. 0
analogWrite(S1,255);
analogWrite(S2,0);
analogWrite(S3,0);
analogWrite(S4,0);
analogWrite(S5,0);
analogWrite(S6,pwm_value);
break;
}
case 1: { //+. 0. -
analogWrite(S1,255);
analogWrite(S2,0);
analogWrite(S3,0);
analogWrite(S4,pwm_value);
analogWrite(S5,0);
analogWrite(S6,0);
break;
}
case 7:{
Stop();
break;
}
}
}
void Check_PWM_CCW(volatile int HallValue){
switch(HallValue){
case 0: {
Stop();
break;
}
case 3: { //0. +. -
analogWrite(S1,0);
analogWrite(S2,pwm_value);
analogWrite(S3,255);
analogWrite(S4,0);
analogWrite(S5,0);
analogWrite(S6,0);
break;
}
case 2: { //-. +. 0
analogWrite(S1,0);
analogWrite(S2,0);
analogWrite(S3,255);
analogWrite(S4,0);
analogWrite(S5,0);
analogWrite(S6,pwm_value);
break;
}
case 6: { //-. 0. +
analogWrite(S1,0);
analogWrite(S2,0);
analogWrite(S3,0);
analogWrite(S4,pwm_value);
analogWrite(S5,255);
analogWrite(S6,0);
break;
}
case 4: { //0. -. +
analogWrite(S1,0);
analogWrite(S2,pwm_value);
analogWrite(S3,0);
analogWrite(S4,0);
analogWrite(S5,255);
analogWrite(S6,0);
break;
}
case 5: { //+. -. 0
analogWrite(S1,255);
analogWrite(S2,0);
analogWrite(S3,0);
analogWrite(S4,0);
analogWrite(S5,0);
analogWrite(S6,pwm_value);
break;
}
case 1: { //+. 0. -
analogWrite(S1,255);
analogWrite(S2,0);
analogWrite(S3,0);
analogWrite(S4,pwm_value);
analogWrite(S5,0);
analogWrite(S6,0);
break;
}
case 7:{
Stop();
break;
}
}
}
void Init_Pins(){
pinMode(S1,OUTPUT);
pinMode(S2,OUTPUT);
pinMode(S3,OUTPUT);
pinMode(S4,OUTPUT);
pinMode(S5,OUTPUT);
pinMode(S6,OUTPUT);
pinMode(Hall1,INPUT);
pinMode(Hall2,INPUT);
pinMode(Hall3,INPUT);
pinMode(18,INPUT);
pinMode(17,INPUT);
}
void Init_Interrupt(){
sei();
TCCR1B|=(1<<CS10)|(0<<CS11)|(0<<CS12);
TCCR2B|=(1<<CS20)|(0<<CS21)|(0<<CS22);
TCCR3B|=(1<<CS30)|(0<<CS31)|(0<<CS32);
EIMSK=(1<<INT0)|(1<<INT1)|(1<<INT2)|(1<<INT3);
EICRA=(1<<ISC00)|(1<<ISC10)|(1<<ISC20)|(1<<ISC30);
}
ISR(INT0_vect){
if (direction==1)
Check_PWM_CW(HallValue());
if (direction==0)
Check_PWM_CCW(HallValue());
}
ISR(INT1_vect){
if (direction==1)
Check_PWM_CW(HallValue());
if (direction==0)
Check_PWM_CCW(HallValue());
}
ISR(INT2_vect){
if (direction==1)
Check_PWM_CW(HallValue());
if (direction==0)
Check_PWM_CCW(HallValue());
}
ISR(INT3_vect){
Ticks++;
}
ISR(TIMER5_OVF_vect){
Ticks_new=Ticks-temp;
temp=Ticks;
flag=1;
/* PID();*/
}
void setup() {
Serial.begin(9600);
int myTimeout = 1; // milliseconds for Serial.read
Serial.setTimeout(myTimeout);
Init_Pins();
Init_Interrupt();
TCCR5A=0;
TCCR5B=(1<<CS50);//Prescaler=0.
TIMSK5=(1<<TOIE5);//OVF Interrupt Enable.
TCNT5=0;
/* ovf=0;*/
}
void loop(){
/* while(stream.available()){
a=stream.read();
b=a.toInt();
}
if(flag==1){
Serial.println(Ticks_new);
flag=0;
}*/
}
/*void PID(){
Error=Target_Ticks-Ticks_new;
Intg=Intg+Error*dt;
pid=pid+(Kp*Error)+(Kd*(Error-Prev_Error)/dt)+Ki*Intg;
if(pid>255){
pid=255;
}
else if(pid<0){
pid=0;
}
Prev_Error=Error;
pwm_value=pid;
}*/