Add a BLDC drive control subsystem to your own project!
On this Page:
Follow these steps to add motor control to your project:
- Download the latest release .zip file - get project files
- Adjust config file to your desired configuration
- Include project objects in your top-object-file
- Make calls to steering or motor object to drive your platform
Additional pages:
- Main Page - Return to the top of this repos
- Drawings - Files (.dwg) that you can use to order your own platform inexpensively
- To-scale drawings of possible rectangular and round robotic drive platforms for Edge Mini Break and JonnyMac P2 Development boards
Go to the project Releases page expand the Assets heading to see the demo-archive-set.zip file link. Click on it to download the .zip file. Unpack it and move the files into your project.
The objects provided by this project read a user configuration to determine how to configure themselves. You'll first adjust this file to describe your setup. Then you'll include the motor/steering objects you need into your top-level file.
Lastly you'll start the objects and then add your drive code and any sensor code you wish to use.
Edit the user configuration file and adjust the settings to describe the configuration you will be using.
Here's the Author's two-wheel setup:
' -------------------------------------------------------------------
' AUTHORs TEST configuration (dual Motor)
' -------------------------------------------------------------------
{
' using Mini Edge Breakout
LEFT_MOTOR_BASE = PINS_P0_P15
RIGHT_MOTOR_BASE = PINS_P16_P31
' using 6.5" hub motors
MOTOR_TYPE = MOTR_6_5_INCH
' using a 5s battery
DRIVE_VOLTAGE = PWR_18p5V
MOTOR_DIA_IN_INCH = 6.5 ' 6.5 inches (floating point constant)
'}
You will need to configure one of:
ONLY_MOTOR_BASE= {pinBaseConstant} -OR-LEFT_MOTOR_BASE= {pinBaseConstant} andRIGHT_MOTOR_BASE= {pinBase}
and then set your motor type:
MOTOR_TYPE= {motorTypeConstant}
and then set:
DRIVE_VOLTAGE= {voltageConstant}
as well as:
MOTOR_DIA_IN_INCH= {wheelDiameterInInches} (floating point value)
Here's the Author's single motor setup:
' -------------------------------------------------------------------
' AUTHORs TEST configuration (docEng single Motor)
' -------------------------------------------------------------------
{
' using JonnyMac breakout board
ONLY_MOTOR_BASE = PINS_P16_P31
' using smaller docoEng.com motor
MOTOR_TYPE = MOTR_DOCO_4KRPM
' using a 5s battery
DRIVE_VOLTAGE = PWR_18p5V
' no wheel attached to this motor
MOTOR_DIA_IN_INCH = 0.0 ' 0 inches (floating point constant)
'}
In this case you configure:
ONLY_MOTOR_BASE= {pinBaseConstant}
and then set your motor type:
MOTOR_TYPE= {motorTypeConstant}
and then set:
DRIVE_VOLTAGE= {voltageConstant}
as well as:
MOTOR_DIA_IN_INCH= {wheelDiameterInInches} (floating point value)
NOTE: The constants you can use for {pinBaseConstant}, {motorTypeConstant} and {voltageConstant} are provided at the top of the file for you.
Save your changes and you are ready to start adding the driver to your code.
You now need to select objects based on if you are a one-wheel or two-wheel confuration.
- isp_bldc_motor_userconfig.spin2 - your configuration (motor connections, power, wheel size
- isp_steering_2wheel.spin2 - the steering object which include the motor objects
You simply include them with something like:
OBJ { Objects Used by this Object }
user : "isp_bldc_motor_userconfig" ' project motor, power configuration
wheels : "isp_steering_2wheel" ' steering and motor drivers and tracking
Starting the wheels object in Spin2 is also pretty simple:
PUB main() | eOpStatus, nIdx, nCollId, eRxQStatus, eCmdId, tmpVar
' start our motor drivers (left and right)
wheels.start(wheels.PINS_P0_P15, wheels.PINS_P16_P31, wheels.PWR_12V)
' just don't draw current at stop
wheels.holdAtStop(false)
... and do your app stuff from here on ...
wheels.stop() ' if you wish to shutdown COGs and release motor pins
- isp_bldc_motor_userconfig.spin2 - your configuration (motor connections, power, wheel size
- isp_bldc_motor.spin2 - the motor object which includes a single motor tracking object
You simply include them with something like:
OBJ { Objects Used by this Object }
user : "isp_bldc_motor_userconfig" ' project motor, power configuration
wheel : "isp_bldc_motor" ' motor driver
Starting the wheel and tracking objects in Spin2 is also pretty simple:
PUB main() | motorCog, senseCog, basePin, voltage
basePin := wheel.validBasePinForChoice(user.ONLY_MOTOR_BASE)
voltage := wheel.validVoltageForChoice(user.DRIVE_VOLTAGE)
if basePin <> wheel.INVALID_PIN_BASE and voltage <> wheel.INVALID_VOLTAGE
' start our single motor driver
motorCog := wheel.start(basePin, voltage)
' for single motor let's start the single motor sense task
senseCog := wheel.startSenseCog()
' just don't draw current at stop
wheel.holdAtStop(false)
... and do your app stuff from here on ...
wheel.stop() ' if you wish to shutdown COGs and release motor pins
You are now at the ... and do your app stuff from here on ... section of this page.
From here on, just use any of the Public Methods found in the Steering and Motor control interface description.
Remember: if you are two wheeled you are calling methods of the isp_steering_2wheel.spin2 object wheels.* and if you are a single wheel then you are calling methods of the isp_bldc_motor.spin2 object wheel.*.
Have Fun!
If you like my work and/or this has helped you in some way then feel free to help me out for a couple of ☕'s or 🍕 slices!
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