Hello everyone I've been trying to make this jump cube, but I can't get the brushless motors to spin around.
I've been sitting here since 12 o'clock searching the internet, trying different code etc. so for four hours straight.
Not much code on the internet for a 8 wire bldc motor.
I can't get the motors spinning. I'm not very good with programming so I hope I can get some help from the more experience people.
Picture of the project..
Basically I just for now need the motors to spin, but they don't. I can feel resistance in the motor axel and when I turn it it makes noise, so something is going on.
I wrote this:
/*
*
*
* This program is for the Prototype of a gyromoment turning cube for testing
*
* 1: CHA -> Arduino D2
* 2: CHB -> Arduino D3
* 3: 5V -> Arduino 5v connector
* 4: CW/CCW -> Arduino D4
* 5: PWM -> -> Arduino D8
* 6: Brake -> Arduino D5
* 7: GND -> Direkte fra Batteri
* 8: VM (11.1v) Direkte fra batteri.
*
*
*
*
*/
int CHA = 2; // Read encoder
int CHB = 3; // Read encoder
int CWCCW = 4; // Low = CW, High = CCW
int PWM = 8; // PWM 1 - 255 for Motor Speed
int Brake = 5; // Low = Brake, High = Releases Brake Function
void setup() {
pinMode(CHA, INPUT);
pinMode(CHB, INPUT);
pinMode(CWCCW, OUTPUT);
pinMode(PWM, OUTPUT);
pinMode(Brake, OUTPUT);
}
void loop() {
digitalWrite(CWCCW, LOW);
digitalWrite(Brake, HIGH);
analogWrite(PWM,255);
}
The best example I find for me thoughout google searches is this code intentionally written for 3D printers by Miguel Sánchez
/*
This program uses an Arduino for a closed-loop control of TWO brushless DC-motors.
Motor motion is detected by a quadrature encoder.
Two inputs per motor named STEP and DIR allow changing the target position.
Serial port prints current position and target position every second.
Serial input can be used to feed a new location for the servo (no CR LF).
Pins used: please read defines and code below
Please note PID gains kp, ki, kd need to be tuned to each different setup.
*/
#define DEBUG
#include <PID_v1.h>
#define encoder0PinA 2
#define encoder0PinB 3
#define encoder1PinA 7
#define encoder1PinB 6
#define PWM 8
#define PWM1 10
#define CWCCW 4
#define CWCCW1 9
#define BRAKE 5
double kp=1,ki=0,kd=0.0;
double input=0, output=0, setpoint=0;
double input1=0, output1=0, setpoint1=0;
PID myPID(&input, &output, &setpoint,kp,ki,kd, DIRECT);
PID myPID1(&input1, &output1, &setpoint1,kp,ki,kd, DIRECT);
volatile long encoder0Pos = 0;
volatile long encoder1Pos = 0;
long previousMillis = 0; // will store last time LED was updated
long target0=0; // destination location at any moment
long target1=0; // destination location at any moment
//for motor control ramps 1.4
bool newStep = false;
bool oldStep = false;
// Install Pin change interrupt for a pin, can be called multiple times
void pciSetup(byte pin)
{
*digitalPinToPCMSK(pin) |= bit (digitalPinToPCMSKbit(pin)); // enable pin
PCIFR |= bit (digitalPinToPCICRbit(pin)); // clear any outstanding interrupt
PCICR |= bit (digitalPinToPCICRbit(pin)); // enable interrupt for the group
}
void setup() {
pinMode(encoder0PinA, INPUT); digitalWrite(encoder0PinA, HIGH);
pinMode(encoder0PinB, INPUT); digitalWrite(encoder0PinB, HIGH);
pciSetup(encoder0PinA);
pciSetup(encoder0PinB);
pinMode(encoder1PinA, INPUT); digitalWrite(encoder1PinA, HIGH);
pinMode(encoder1PinB, INPUT); digitalWrite(encoder1PinB, HIGH);
pciSetup(encoder1PinA);
pciSetup(encoder1PinB);
pinMode(BRAKE, OUTPUT);
TCCR1B = TCCR1B & 0b11111000 | 1; // set Hz PWM
Serial.begin (115200);
//Setup the pid
myPID.SetMode(AUTOMATIC);
myPID.SetSampleTime(1);
myPID.SetOutputLimits(-150,150);
pinMode(13,OUTPUT); digitalWrite(13,HIGH); // disable motor brake
pinMode(CWCCW,OUTPUT); analogWrite(PWM,255);
myPID1.SetMode(AUTOMATIC);
myPID1.SetSampleTime(1);
myPID1.SetOutputLimits(-150,150);
pinMode(13,OUTPUT); digitalWrite(13,HIGH); // disable motor brake
pinMode(CWCCW1,OUTPUT); analogWrite(PWM1,255);
// step pin interrupts on rising edge
attachInterrupt(0, countStep , RISING); // step0 input on interrupt 1 - pin 2
attachInterrupt(1, countStep1 , RISING); // step1 input on interrupt 1 - pin 3
}
void loop(){
digitalWrite(BRAKE,HIGH);
input = encoder0Pos;
setpoint=target0;
input1 = encoder1Pos;
setpoint1=target1;
myPID.Compute();
myPID1.Compute();
// interpret received data as an integer (no CR LR): provision for manual testing over the serial port
if(Serial.available()) target1=Serial.parseInt();
pwmOut(output);
pwmOut1(output1);
#ifdef DEBUG
if(millis() % 2000 == 0) target0=target1=random(1000); // that was for self test with no input from main controller
if( millis() % 1000 ==0 )
{
Serial.print(target1);
Serial.print(":");
Serial.print(" P=");
Serial.print(output);
Serial.print(" P1=");
Serial.print(output1);
Serial.print(" 0: ");
Serial.print(encoder0Pos); // print out current location every second
Serial.print(" 1: ");
Serial.println(encoder1Pos); // print out current location every second
}
#endif
}
void pwmOut(int out) {
// if(abs(out)<10) digitalWrite(13,LOW); else digitalWrite(13,HIGH); // brake, compensate dead-band
if(out<0) { digitalWrite(CWCCW,HIGH);}
else { digitalWrite(CWCCW, LOW); }
analogWrite(PWM, 255-abs(out) );
}
void pwmOut1(int out) {
// if(abs(out)<10) digitalWrite(13,LOW); else digitalWrite(13,HIGH); // brake, compensate dead-band
if(out<0) { digitalWrite(CWCCW1,HIGH);}
else { digitalWrite(CWCCW1, LOW); }
analogWrite(PWM1, 255-abs(out) );
}
const int QEM [16] = {0,-1,1,2,1,0,2,-1,-1,2,0,1,2,1,-1,0}; // Quadrature Encoder Matrix
static unsigned char New, Old;
ISR (PCINT0_vect) // handle pin change interrupt for D8 to D13 here
{
Old = New;
New = (PINB & 1 )+ ((PINB & 16)/8); //
encoder0Pos+= QEM [Old * 4 + New];
}
static unsigned char New2, Old2;
ISR (PCINT2_vect) // handle pin change interrupt for D0 to D7 here
{
Old2 = New2;
New2 = (PIND & 192)/64; //(PIND & 128 )/128 + ((PIND & 64)/32); //
encoder1Pos+= QEM [Old2 * 4 + New2];
}
void countStep(){ if (PINC&B0000001) target0++;else target0--; } // pin A0 represents direction0
void countStep1(){ if (PINC&B0000010) target1++;else target1--; } // pin A1 represents direction1
Can someone guide me in a direction to where I can get the motors spinning. I would be so appreaciated, this is something I would love to make happen and see my project work.
Thanks best regards Kevin.
