Can someone help me compile these two sketches into one, so both functionalities are handled by one Arduino?
Below are the two sketches. One is a basic servo control with a potentiometer, the second one is an open loop simpleFOC BLDC control sketch. I have both working separately perfectly (2 Arduinos), but I can't get a single Arduino to perform both, as in: control the rotation of the servo with the pot while the BLDC spins on its own. I am pretty sure it is a code issue due to my lack of coding skills. Might be a matter of adding an "if" function, but note that I'd like the servo to operate whether the BLDC is on or not and vice-versa. Would that qualify as "multitasking"?
Thanks a bunch!
sketch 1 (servo pot control)
#include <Servo.h>
Servo Servo1;
int servoPin = 3;
int potPin = A0;
void setup() {
Servo1.attach(servoPin);
}
void loop() {
int reading = analogRead(potPin);
int angle = map(reading, 0, 1023, 0, 180);
Servo1.write(angle);
}
Sketch 2 (simpleFOC BLDC control)
/* Open loop FOC control of the angle of a brushless motor
* More on https://electronoobs.com/eng_arduino_tut176.php"
* YouTube channel: https://www.youtube.com/c/ELECTRONOOBS */
//Inputs and outputs
const int Enable_Pin = 8; // Enable pin for the driver
const int Motor_phase_A = 9; //Pin for driver input of phase A
const int Motor_phase_B = 10; //Pin for driver input of phase B
const int Motor_phase_C = 11; //Pin for driver input of phase C
//Variables used in the code
int16_t SINE_A = 0; //Initial angle value of the phase A
int16_t SINE_B = 120; //Initial angle value of the phase B
int16_t SINE_C = 240; //Initial angle value of the phase C
int poles = 11; /*Amount of poles of the motor (change this value if the motor is not
getting to a full rotation. For example, my motor has 28 poles but I had
to add "11" in order to make a full rotation*/
uint32_t adc_read = 0; //Variable to store the pot ADC value.
void setup() {
Serial.begin(9600);
//We need to set the PWM frequency to be the same for all 3 pins D9, D10 and D11
TCCR0B = TCCR0B & 0b11111000 | 0x03 ; // Changing would affect millis() and delay() so better to leave it default (0x03).
TCCR1B = TCCR1B & 0b11111000 | 0x01; // Set PWM frequency at 31250Hz for D9 and 10, (0x03 is default value, gives 490 Hz).
TCCR2B = TCCR2B & 0b11111000 | 0x01; // Set PWM frequency at 31250Hz for D11 D3, (0x03 is default value, gives 490 Hz).
pinMode(Motor_phase_A, OUTPUT);
pinMode(Motor_phase_B, OUTPUT);
pinMode(Motor_phase_C, OUTPUT);
pinMode(Enable_Pin, OUTPUT);
digitalWrite(Enable_Pin, HIGH);
}
void loop() {
moving(); // The motor is moving.
}
void moving()
{
SINE_A = SINE_A + 3; //Add # so the rotation will continue # by # | ADJUSTS THE MOTOR SPEED
SINE_B = SINE_A + 120; //We have a 120 phase difference betweeen phase A and B
SINE_C = SINE_B + 120; //We have a 120 phase difference betweeen phase B and C
//Range calculation of Sine Signal
SINE_A = SINE_A%360; //Keep the values between 0 and 359
SINE_B = SINE_B%360; //Keep the values between 0 and 359
SINE_C = SINE_C%360; //Keep the values between 0 and 359
//Calculate the PWM values for creating a sine signal (SPWM)
int SINE_A_PWM = sin((double)SINE_A*PI/180)*127.5+127.5; //Multiply by PI and divide by 180 in order to pass from degrees to radians
int SINE_B_PWM = sin((double)SINE_B*PI/180)*127.5+127.5; //Multiply by 127.5 and add 127.5 in order to keep the range between 0-255
int SINE_C_PWM = sin((double)SINE_C*PI/180)*127.5+127.5; //Sine values between -1 and 1 are placed between 0-255 for PWM.
analogWrite(Motor_phase_A, SINE_A_PWM*0.7); //You might change the 0.7 value for more torque...
analogWrite(Motor_phase_B, SINE_B_PWM*0.7); //You might change the 0.7 value for more torque...
analogWrite(Motor_phase_C, SINE_C_PWM*0.7); //You might change the 0.7 value for more torque...
}
