v1.2版本改为通过xbox系列手柄进行遥控,并增加智能模式和手动模式

v1.2/Shibo-main-TOMMY/lib/Simple_FOC/src/drivers/BLDCDriver6PWM.cpp

@@ -0,0 +1,86 @@
+#include "BLDCDriver6PWM.h"
+
+BLDCDriver6PWM::BLDCDriver6PWM(int phA_h,int phA_l,int phB_h,int phB_l,int phC_h,int phC_l, int en){
+  // Pin initialization
+  pwmA_h = phA_h;
+  pwmB_h = phB_h;
+  pwmC_h = phC_h;
+  pwmA_l = phA_l;
+  pwmB_l = phB_l;
+  pwmC_l = phC_l;
+
+  // enable_pin pin
+  enable_pin = en;
+
+  // default power-supply value
+  voltage_power_supply = DEF_POWER_SUPPLY;
+  voltage_limit = NOT_SET;
+  pwm_frequency = NOT_SET;
+
+  // dead zone initial - 2%
+  dead_zone = 0.02f;
+
+}
+
+// enable motor driver
+void  BLDCDriver6PWM::enable(){
+    // enable_pin the driver - if enable_pin pin available
+    if ( _isset(enable_pin) ) digitalWrite(enable_pin, enable_active_high);
+    // set zero to PWM
+    setPwm(0, 0, 0);
+}
+
+// disable motor driver
+void BLDCDriver6PWM::disable()
+{
+  // set zero to PWM
+  setPwm(0, 0, 0);
+  // disable the driver - if enable_pin pin available
+  if ( _isset(enable_pin) ) digitalWrite(enable_pin, !enable_active_high);
+
+}
+
+// init hardware pins
+int BLDCDriver6PWM::init() {
+
+  // PWM pins
+  pinMode(pwmA_h, OUTPUT);
+  pinMode(pwmB_h, OUTPUT);
+  pinMode(pwmC_h, OUTPUT);
+  pinMode(pwmA_l, OUTPUT);
+  pinMode(pwmB_l, OUTPUT);
+  pinMode(pwmC_l, OUTPUT);
+  if(_isset(enable_pin)) pinMode(enable_pin, OUTPUT);
+
+
+  // sanity check for the voltage limit configuration
+  if( !_isset(voltage_limit) || voltage_limit > voltage_power_supply) voltage_limit =  voltage_power_supply;
+
+  // configure 6pwm
+  // hardware specific function - depending on driver and mcu
+  int result = _configure6PWM(pwm_frequency, dead_zone, pwmA_h,pwmA_l, pwmB_h,pwmB_l, pwmC_h,pwmC_l);
+  initialized = (result==0);
+  return result;
+}
+
+// Set voltage to the pwm pin
+void BLDCDriver6PWM::setPwm(float Ua, float Ub, float Uc) {
+  // limit the voltage in driver
+  Ua = _constrain(Ua, 0, voltage_limit);
+  Ub = _constrain(Ub, 0, voltage_limit);
+  Uc = _constrain(Uc, 0, voltage_limit);
+  // calculate duty cycle
+  // limited in [0,1]
+  dc_a = _constrain(Ua / voltage_power_supply, 0.0f , 1.0f );
+  dc_b = _constrain(Ub / voltage_power_supply, 0.0f , 1.0f );
+  dc_c = _constrain(Uc / voltage_power_supply, 0.0f , 1.0f );
+  // hardware specific writing
+  // hardware specific function - depending on driver and mcu
+  _writeDutyCycle6PWM(dc_a, dc_b, dc_c, dead_zone, pwmA_h,pwmA_l, pwmB_h,pwmB_l, pwmC_h,pwmC_l);
+}
+
+
+// Set voltage to the pwm pin
+void BLDCDriver6PWM::setPhaseState(int sa, int sb, int sc) {
+  // TODO implement disabling
+}