PWM auf einen Pin am Arduino Nano umgebaut. Schaltplan und Software angepasst.

Arduino/motor/src/main.cpp

@@ -8,6 +8,11 @@ void Ablauf();
 void AblaufSekunde();
 
 KlappenSteuerung klappe1 (M1A , M1B , M1SENSE , 5  );
+
+
+
+
+
 //KlappenSteuerung klappe2 (M2A , M2B , M2SENSE , 2  );
 //KlappenSteuerung klappe3 (M3A , M3B , M3SENSE , 23 );
 //KlappenSteuerung klappe4 (M4A , M4B , M4SENSE , 1  );
@@ -16,6 +21,7 @@ KlappenSteuerung klappe1 (M1A , M1B , M1SENSE , 5  );
 
 void setup() {
   // put your setup code here, to run once:
+  KlappenSteuerung::setMotorPwmPin(TIMER1_PWM_PIN);
   KlappenSteuerung::setup();
   pinMode(LED_BUILTIN , OUTPUT);
 }

Arduino/motor/src/motor.cpp

@@ -3,7 +3,7 @@
 
 
 
-
+  uint8_t Motor::pinPwm;
 
 
 
@@ -12,11 +12,16 @@ void Motor::setMotorPins(uint8_t pinA , uint8_t pinB){
   this->pinB = pinB;
 }
 
+void Motor::setMotorPwmPin(uint8_t pinPwm){
+  Motor::pinPwm = pinPwm;
+}
+
 
 void Motor::setup(){
   ArduinoAnpassung::setup();
-  Timer1.initialize(100); // 10kHz
+  Timer1.initialize(1000); // 10kHz
-  Timer1.attachInterrupt(Motor::interruptEinsprung);
+  //Timer1.attachInterrupt(Motor::interruptEinsprung);
+  Timer1.pwm(Motor::pinPwm, (0));  // 1023 
   //digitalWrite(LED_BUILTIN , 0 );
 }
 
@@ -44,64 +49,43 @@ void Motor::memberLoop(){
     else
       test --;
   }
-  setSollSpeed( test / 64);
+  setSollSpeed( test / 128);
   //setSollSpeed(100);
   
 }
 
 
 void Motor::setSollSpeed(int16_t speed){
-  if(speed > 256)
+  uint16_t pwm;
-    speed = 256;
-  if((speed < 100) && (speed > -100))
-    speed = 0;
-  if(speed < -256)
-    speed = -256;
 
-  sollSpeed = speed;
+  if(speed >255)
-
+    speed = 255;
-}
+  if(speed < -255)
+    speed = -255;
 
 
-void Motor::interruptEinsprung(){
+  if(speed > 0)
-  MyList *zeiger;
+   { 
-  zeiger =  ArduinoAnpassung::getErstesElement();
+    pwm = 512 + speed * 2;
-  while(zeiger){
-    ((Motor*)zeiger)->memberInterruptEinsprung();
-    zeiger = zeiger->getNachfolgerElement();
-  }
-  
-  
-
-}
-
-void Motor::memberInterruptEinsprung(){
-  interruptBerechnungen();
-  timer ++;
-    //digitalWrite(LED_DEBUG , (timer & 0x100) != 0 );
-  //digitalWrite(LED_BUILTIN , 1 );
-}
-
-void Motor::interruptBerechnungen(){
-  summeSpeed += sollSpeed;
-  if(summeSpeed >= 256)
-  {
-    summeSpeed -= 256;
     digitalWrite(pinA , 0);
     digitalWrite(pinB , 1);
-    digitalWrite(LED_BUILTIN , 0 );
 
-  }else if (summeSpeed <= -256){
+  }else if (speed < 0){
-    summeSpeed += 256;
+    pwm = 512 - speed * 2;
     digitalWrite(pinA , 1);
     digitalWrite(pinB , 0);
-    digitalWrite(LED_BUILTIN , 1 );
 
   }else{
+    pwm = 1023;
     digitalWrite(pinA , 0);
     digitalWrite(pinB , 0);
-    digitalWrite(LED_BUILTIN , 0 );
 
   }
-  
+  Timer1.pwm(Motor::pinPwm, pwm);
+ 
+
 }
+
+
+
+

Arduino/motor/src/motor.h

@@ -15,21 +15,21 @@ public:
   static void setup();
 
   void setMotorPins(uint8_t pinA , uint8_t pinB);
+  static void setMotorPwmPin(uint8_t pinPwm);
 
   void setSollSpeed(int16_t speed);
 
 protected:
 
-  static Motor *letztesElement;
+  
-  Motor *vorherElement;
+  static uint8_t pinPwm;
-
 
 
   void memberSetup();
   void memberLoop();
 
-  static void interruptEinsprung();
+  //static void interruptEinsprung();
-  void memberInterruptEinsprung();
+  //void memberInterruptEinsprung();
   //void InterruptEinsprung();
 
   void interruptBerechnungen();

Arduino/motor/src/pins.h

@@ -2,6 +2,7 @@
 #define PINS_H
 
 
+#define TIMER1_PWM_PIN 9
 
 #define M1A       2
 #define M1B       3
@@ -16,15 +17,15 @@
 #define M3SENSE  A3
 
 #define M4A       8
-#define M4B       9
+#define M4B      10
 #define M4SENSE  A4
 
-#define M5A      10
+#define M5A      11
-#define M5B      11
+#define M5B      12
 #define M5SENSE  A5
 
-#define M6A      12
+#define M6A      13
-#define M6B      13
+#define M6B      14
 #define M6SENSE  A6