BLDC Motor Sinus Signale

/* 

Driving a DVD drive spindle three-phase motor 

This code was used for the stroboscope project

This example code is in the public domain. Based on several Arduino code samples

http://elabz.com/

 */

// constants won't change. They're used here to 

// set pin numbers:

const int buttonPin = 8;// the number of the direction pushbutton pin

const int ledPin =  7;  // the number of the status LED pin (not the flash LED)

const int potPin = 0;  // pot controls the RPM speed

const int potPinFlash = 1;  // pot controls the flash speed

const int motorPin1 =9;

const int motorPin2 =10;

const int motorPin3 =11;

const int flashPin =12;

const int motorDelay=5; // together with pot controls the RPM

const int flashDelay=2; // controls duration of flash

const int frames=12; // has to be divisible by 3 in this version

const int serialDelay = 2000; //debug only

long serialLast =0; //debug only

// Variables will change:

boolean ledState = false; // the current state of the status LED output pin

int buttonState;    // the current reading from the direction input pin

int potState;       // the current reading from the RPM speed potentiometer

int potStateFlash; // the current reading from the flash rate potentiometer

int lastButtonState = LOW; 

int debounceDelay = 50;    // the debounce time; increase if the output flickers

boolean direct = true; // direction true=forward, false=backward

/*

int pwmSin[] = {127,110,94,78,64,50,37,26,17,10,4,1,0,1,4,10,17,26,37,50,64,78,94,110,127,144,160,176,191,204,217,228,237,244,250,253,254,253,250,244,237,228,217,204,191,176,160,144,127

}; // array of PWM duty values for 8-bit timer - sine function

*/

int pwmSin[]={511,444,379,315,256,200,150,106,68,39,17,4,0,4,17,39,68,106,150,200,256,315,379,444,511,578,643,707,767,822,872,916,954,983,1005,1018,1022,1018,1005,983,954,916,872,822,767,707,643,578,511

}; // array of PWM duty values for 10-bit timer - sine function

int increment;

int flashIncrement = 0;

int currentFlash=0;

int currentStepA=0;

int currentStepB=16;

int currentStepC=32;

// the following variables are long's because the time, measured in miliseconds,

// will quickly become a bigger number than can be stored in an int.

long lastDebounceTime = 0;  // the last time the output pin was toggled

long motorDelayActual = 0;  // the actual delay, based on pot value and motor delay set above

long flashDelayActual = 0;

long flashDelayPerCycle = 0;

long lastMotorDelayTime = 0;

long flashTime = 0; // how long has flash been ON 

long flashTimeOFF = 0; // how long has flash been OFF 

void setup() {

  TCCR1B = TCCR1B & 0b11111000 | 0x01; // set PWM frequency @ 31250 Hz for Pins 9 and 10

  TCCR2B = TCCR2B & 0b11111000 | 0x01; // set PWM frequency @ 31250 Hz for Pins 11 and 3 (3 not used)

//  ICR1 = 255 ; // 8 bit resolution

  ICR1 = 1023 ; // 10 bit resolution

  pinMode(buttonPin, INPUT);

  pinMode(potPin, INPUT);

  pinMode(potPinFlash, INPUT);

  pinMode(ledPin, OUTPUT);

  pinMode(motorPin1, OUTPUT);

  pinMode(motorPin2, OUTPUT);

  pinMode(motorPin3, OUTPUT);

  pinMode(flashPin, OUTPUT);

  digitalWrite(flashPin, LOW);

}

void loop() {

  // read the state of the switch into a local variable:

  int reading = digitalRead(buttonPin);

  // check to see if you just pressed the button 

  // (i.e. the input went from LOW to HIGH),  and you've waited 

  // long enough since the last press to ignore any noise:  

  // If the switch changed, due to noise or pressing:

  if (reading != lastButtonState) {

    // reset the debouncing timer

    lastDebounceTime = millis();

  } 

  if ((millis() - lastDebounceTime) > debounceDelay) {

    // whatever the reading is at, it's been there for longer

    // than the debounce delay, so take it as the actual current state:

    buttonState = reading;

    direct = !direct;

    ledState = !ledState;

    lastButtonState = reading;

  }

  // set the LED using the state of the button:

  digitalWrite(ledPin, ledState);

  // save the reading.  Next time through the loop,

  // it'll be the lastButtonState:

 potStateFlash = analogRead(potPinFlash);

 potState = analogRead(potPin);

motorDelayActual =   potState * motorDelay / 100; 

// flashDelayActual =   flashDelay+potStateFlash/200; // if we were controlling it with a POT

flashDelayActual =   flashDelay;

move();

}

void move()

{

if((millis() - flashTime) >  flashDelayActual)

{

  digitalWrite(flashPin, HIGH);

}

if((millis() - lastMotorDelayTime) >  motorDelayActual)

{ // delay time passed, move one step 

if (direct==true)

{

  increment = 1;

} else {

  increment = -1;  

} 

  currentStepA = currentStepA + increment;

  if(currentStepA > 47) currentStepA = 0;

  if(currentStepA<0) currentStepA =47;

  currentStepB = currentStepB + increment;

  if(currentStepB > 47) currentStepB = 0;

  if(currentStepB<0) currentStepB =47;

    currentStepC = currentStepC + increment;

  if(currentStepC > 47) currentStepC = 0;

  if(currentStepC<0) currentStepC =47;

lastMotorDelayTime = millis();

//flashDelayPerCycle = flashDelayPerCycle + flashDelayPerCycle;

currentFlash = currentFlash + 1;

if(currentFlash>24)

  { 

    digitalWrite(flashPin, LOW);

    currentFlash=0;

    flashTime = millis();

    flashDelayActual = millis();

  }

}

analogWrite(motorPin1, pwmSin[currentStepA]);

analogWrite(motorPin2, pwmSin[currentStepB]);

analogWrite(motorPin3, pwmSin[currentStepC]);

}