MotorSpeedController

yaya.

Hardware

Software

Contains code for the controller itself and code for a master device to interface with the controller.

• controller - Code for the speed controller itself.
• controllerInterfaceLib - Library files for use on a master device to interface with the controller.

Wiring Connections and Interface

This controller uses standard SPI communications.

Arduino	Speed Controller
5V	5V
GND	GND
MOSI	MOSI
MISO	MISO
SCK	SCK
SS*	SS

*The SS pin must be used for at least one of the connections. Additional speed controllers may use other digital IO pins.

Status LED

The green LED on the board will indicate state of the controller. The key is as follows.

State	Pattern
Off	---------
Brake	-__-__-__
Speed Control	--__--__--
Power Control	--_--_--_
Timeout	-_-_-_-_-

Interface Lib Usage

Create:
Create an instance of the class.

Nidec24hController motor(SPI, ssPin);  

SPI - the SPI singleton object from the SPI.h library.
ssPin - pin to use as chip select. Should simply be SS for first controller.

Initialize:
Create an instance of the class.

setup() {
    ...
    // Init SPI
    SPI.begin ();
    SPI.setClockDivider(SPI_CLOCK_DIV4);
    
    //Init motor controller
    motor.init();  
    ...
}

Set Speed:
Set the speed for the motor in RPM. Negative values are allowed. This will switch the motor to speed control mode if in power control mode or braking.

motor.setSpeed(speed);  

speed - the speed for the motor in RPM.

Set Power:
Set the power for the motor (-1000 to 1000). This will switch the motor to power control mode if in speed control mode or braking.

motor.setPower(power);  

power - the power for the motor (-1000 to 1000).

Brake:
Engage the electronic braking and stop the motor..

motor.brake();  

Set Direction Inverted:
Set whether the motor control should be inverted.

motor.invertDirection(invertDir);  

invertDir - boolean to set if direction should be inverted.

Get Current Speed:
Get the current speed of the motor in RPM.

motor.getSpeed();  

Get Current Power:
Get the current power the motor is running at. If in speed control mode, this will be varied automatically by the PID algorithm.

motor.getPower();  

Get the Target Speed:
Get the target speed the controller is attempting to regulate the motor at.

motor.getTargetSpeed();