PWM am Enable Pin

Arduino/motor/src/KlappenAblauf.cpp

@@ -71,13 +71,13 @@ void KlappenAblauf::fsmStep(){
     break;
 
   case START_AUF:
-    setMotorAktion(1);
+    setSollSpeed(800);
     timer = 5000;
     aktuellerState = FAEHRT_AUF;
     break;
 
   case START_ZU:
-    setMotorAktion(-1);
+    setSollSpeed(-1023);
     timer = 5000;
     aktuellerState = FAEHRT_ZU;
     break;
@@ -85,7 +85,7 @@ void KlappenAblauf::fsmStep(){
   case FAEHRT_AUF:
     timer -= getDeltamsec();
     if(timer <= 0){
-      setMotorAktion(0);
+      setSollSpeed(0);
       aktuellerState = WARTE_OFFEN;
     }
     break;
@@ -93,7 +93,7 @@ void KlappenAblauf::fsmStep(){
   case FAEHRT_ZU:
     timer -= getDeltamsec();
     if(timer <= 0){
-      setMotorAktion(0);
+      setSollSpeed(0);
       aktuellerState = WARTE_GESCHLOSSEN;
     }
     break;

Arduino/motor/src/motor.cpp

@@ -17,12 +17,84 @@ void Motor::setMotorPwmPin(uint8_t pinPwm){
 }
 
 
+
 void Motor::setup(){
   ArduinoAnpassung::setup();
-  pinMode(pinPwm , OUTPUT);
+  Timer1.initialize(100);     //10kHz
-  digitalWrite(pinPwm , 1);
+  Timer1.pwm(pinPwm , 0);
+  Timer1.attachInterrupt(Motor::interruptEinsprung);
 }
 
+void Motor::interruptEinsprung(){
+  MyList *zeiger;
+  zeiger =  ArduinoAnpassung::getErstesElement();
+  while(zeiger){
+    ((Motor*)zeiger)->memberInterruptEinsprung();
+    zeiger = zeiger->getNachfolgerElement();
+  }
+}
+
+  void Motor::memberInterruptEinsprung(){
+  interruptBerechnungen();
+}
+
+void Motor::interruptBerechnungen(){
+  /*if(sollSpeed > istSpeed){
+    istSpeed++;
+    setIstSpeed(istSpeed);
+  }
+  if(sollSpeed < istSpeed){
+    istSpeed --;
+    setIstSpeed(istSpeed);
+  }*/
+  
+    setIstSpeed(sollSpeed);
+  
+
+}
+
+
+
+
+void Motor::setSollSpeed(int16_t speed){
+  
+
+ /* if(speed >1023)
+    speed = 1023;
+  if(speed < -1023)
+    speed = -1023; */
+
+  sollSpeed = speed;
+
+}
+void Motor::setIstSpeed(int16_t speed){
+  uint16_t pwm;
+
+  if(speed > 0)
+   { 
+    pwm = speed ;
+    digitalWrite(pinA , 1);
+    digitalWrite(pinB , 0);
+
+  }else if (speed < 0){
+    pwm =  -speed ;
+    digitalWrite(pinA , 0);
+    digitalWrite(pinB , 1);
+
+  }else{
+    pwm = 1023;
+    digitalWrite(pinA , 0);
+    digitalWrite(pinB , 0);
+
+  }
+  Timer1.pwm(Motor::pinPwm, pwm);
+ 
+
+}
+
+
+
+
 
 
 void Motor::memberSetup(){
@@ -34,30 +106,6 @@ void Motor::memberSetup(){
 }
 
 
-void Motor::setMotorAktion(int8_t richtung){
-  if(richtung > 0){
-    digitalWrite( pinA , 1);
-    digitalWrite( pinB , 0);
-    digitalWrite(LED_BUILTIN , 1);
-  }else if(richtung < 0){
-    digitalWrite( pinA , 0);
-    digitalWrite( pinB , 1);
-    digitalWrite(LED_BUILTIN , 1);
-  }else{
-    digitalWrite( pinA , 0);
-    digitalWrite( pinB , 0);
-    digitalWrite(LED_BUILTIN , 0);
-  }
-}
-
-
-void Motor::setMotorAktion(int8_t richtung , int id ){
-  Motor *zeiger;
-  zeiger = (Motor*) searchIdElement(id);
-  if(zeiger)
-    zeiger->setMotorAktion(richtung);
-}
- 
 
 
 

Arduino/motor/src/motor.h

@@ -16,22 +16,23 @@ public:
 
   void setMotorPins(uint8_t pinA , uint8_t pinB);
   static void setMotorPwmPin(uint8_t pinPwm);
-  void setMotorAktion(int8_t richtung);
+  void setSollSpeed(int16_t speed);
-  static void setMotorAktion(int8_t richtung , int id);
+ 
 
   
 
 protected:
 
-  
+ 
+  void setIstSpeed(int16_t speed);
   static uint8_t pinPwm;
 
 
   virtual void memberSetup();
  
 
-  //static void interruptEinsprung();
+  static void interruptEinsprung();
-  //void memberInterruptEinsprung();
+  void memberInterruptEinsprung();
   //void InterruptEinsprung();
 
   void interruptBerechnungen();
@@ -40,7 +41,8 @@ protected:
   uint16_t timer;
 
   int16_t sollSpeed; 
-  int16_t summeSpeed;
+  int16_t istSpeed;
+  //int16_t summeSpeed;
 
   bool richtung;
   int16_t test;