BLDC control with encoder

[Zek_De]

Hi guys,

I would like to sense commutation sequence using encoder (1024 resolution) for bldc motor and if current state - previous state >= a then motor can move for other sequence but if encoder value change 0-1023 then I can't find the difference. For example if motor position in 10 encoder value and I controlled the motor to move other sequence and new value 1000 now 1000-10 is problem. What is best solution for it, I tried asin(sin(enc_val)) but still doesn't work well ?

Code: Select all

for(int8_t j=0;j<6;j++)
{
	Set_DutyCycle(ccw_table[j],1000);
	delay_ms(50);
}
for(int8_t j=5;j>=0;j--)
{
	Set_DutyCycle(ccw_table[j],1000);
	delay_ms(50);
}
delay_ms(500);

qdec_reset_position(&encConfig); 
	tut_u = qdec_get_position(&encConfig);
	say = say+1;
	Set_DutyCycle(ccw_table[say],500);
	delay_ms(500);
	pwm = 500;
	volatile double test=0;

//in while(1)
deltaT = (180/PI)*Keep_Enc_Val_Rad();
	if((fabs(deltaT - tut) >= thetaMechanicalRad-5))
	{
		tut = (180/PI)*Keep_Enc_Val_Rad();
		
		say=say+1;
		if(dir)  Set_DutyCycle(cw_table[say],pwm);
		if(!dir) Set_DutyCycle(ccw_table[say],pwm);
		
		if(say==5) say = -1;
		//delay_ms(10);
		do
		{
			test = (180/PI)*Keep_Enc_Val_Rad();
		}while( (fabs(test - tut) <= (thetaMechanicalRad-2)) );

	}






double Keep_Enc_Val_Rad(void)
{
	double deltaTheta=0;
	uint16_t enc=0;
	enc = Get_Position(&encConfig);
	deltaTheta = (double)enc*ANGLE_RES_RAD;
	deltaTheta = asin( sin(deltaTheta));
	
	return deltaTheta;
}