Hi, I am using Arduino to control a BLDC motor. It is working fine but I need to control the speed of the motor with the help of a potentiometer. I don't know if there are problems with my code but I can't seem to control the speed of the motor. Below you can find the code I used:
#include <LiquidCrystal.h>
//BLDC CONTROLLER PIN DECLARATION
int AA1=3;
int AA2=5;
int BB1=11;
int BB2=10;
int CC1=9;
int CC2=6;
int enable=2; //This is not used for now, The ESC is always enabled
int emfA=A0;
int emfB=A1;
int emfC=A2;
int fase=1;
int deltaA=0;
int emA=0;
int sum=0;
int IN=A3; //pin A3
int Delay=4000;
int it=0;
int it2=1;
static int delta= 0;
static int Lastdelta= -1;
unsigned long previousMillis = 0;
//LCD PIN DECLARATION FOR BATTERY DISPLAY
LiquidCrystal lcd(13,12,8,7,4,1);
int battPin = A4;
int delayTime = 1000;
int voltReading;
int volts;
void setup() {
//SETUP CODE FOR BLDC CONTROLLER
Serial.begin(250000);
pinMode(AA1,OUTPUT);
pinMode(AA2,OUTPUT);
pinMode(BB1,OUTPUT);
pinMode(BB2,OUTPUT);
pinMode(CC1,OUTPUT);
pinMode(CC2,OUTPUT);
pinMode(enable,OUTPUT);
pinMode(IN,INPUT);
pinMode(emfA,INPUT);
pinMode(emfB,INPUT);
pinMode(emfC,INPUT);
digitalWrite(enable,HIGH);
previousMillis = micros();
//SETUP CODE FOR LCD VOLTAGE DISPLAY
lcd.begin(16,2);
pinMode(battPin, INPUT);
Serial.begin(9600);
}
void loop() {
//MAIN CODE FOR BLDC CONTROLER
int emA = analogRead(emfA);
int emB = analogRead(emfB);
int emC = analogRead(emfC);
int sum = (emA+emB+emC)/3;
unsigned long currentMillis = micros(); //count time
if(currentMillis - previousMillis >= Delay)
{
previousMillis += Delay;
//Phase1 C-B
switch(fase){
case 1:
digitalWrite(AA1,LOW);
digitalWrite(AA2,LOW);
digitalWrite(BB1,LOW);
digitalWrite(CC2,LOW);
digitalWrite(BB2,HIGH);
digitalWrite(CC1,HIGH);
delta = emA-sum;
break;
//Phase2 A-B
case 2:
digitalWrite(AA2,LOW);
digitalWrite(BB1,LOW);
digitalWrite(CC1,LOW);
digitalWrite(CC2,LOW);
digitalWrite(AA1,HIGH);
digitalWrite(BB2,HIGH);
delta = emC-sum;
break;
//Phase3 A-C
case 3:
digitalWrite(AA2,LOW);
digitalWrite(BB1,LOW);
digitalWrite(BB2,LOW);
digitalWrite(CC1,LOW);
digitalWrite(CC2,HIGH);
digitalWrite(AA1,HIGH);
delta = emB-sum;
break;
//Phase4 B-C
case 4:
digitalWrite(AA1,LOW);
digitalWrite(AA2,LOW);
digitalWrite(BB2,LOW);
digitalWrite(CC1,LOW);
digitalWrite(BB1,HIGH);
digitalWrite(CC2,HIGH);
delta = emA-sum;
break;
//Phase5 B-A
case 5:
digitalWrite(AA1,LOW);
digitalWrite(BB2,LOW);
digitalWrite(CC1,LOW);
digitalWrite(CC2,LOW);
digitalWrite(AA2,HIGH);
digitalWrite(BB1,HIGH);
delta = emC-sum;
break;
//Phase6 C-A
case 6:
digitalWrite(AA1,LOW);
digitalWrite(BB1,LOW);
digitalWrite(BB2,LOW);
digitalWrite(CC2,LOW);
digitalWrite(CC1,HIGH);
digitalWrite(AA2,HIGH);
delta = emB-sum;
break;
}
if (Lastdelta < 0){
if (delta > 0)
{
Lastdelta=delta; //save the last delta
fase= fase + 1;
if (fase > 6)
{
fase = 1;
}
}
}//Zero cross from - to +
if (Lastdelta > 0){
if (delta < 0)
{
Lastdelta=delta;
fase= fase + 1;
if (fase > 6) {
fase = 1;
}
}
}//Zero cross from + to -
}//Case ends
int t =analogRead(IN); //From the potentiometer
Delay=map(t,0,1024,1,1000); //we obtain the delay speed using the potentiometer
//we map the values from 1 to 1000 microseaconds
//MAIN CODE FOR LCD VOLTAGE DISPLAY
voltReading = analogRead(battPin);
volts = (voltReading/1203)*100;
if (volts == 100)
{
lcd.setCursor(12,0);
lcd.print(volts);
lcd.print("%");
delay(delayTime);
lcd.clear();
Serial.print(volts);
Serial.print("%");
delay(delayTime);
}
else
{
lcd.setCursor(14,0);
lcd.print(volts);
lcd.print("%");
delay(delayTime);
lcd.clear();
Serial.print(volts);
Serial.print("%");
delay(delayTime);
}
} //loop ends
