Motor Class Reference

Class for 3-phase BLDC motor control using PWM and encoder feedback. More...

#include <motor.h>

Public Member Functions
	Motor (TIM_HandleTypeDef *htim, uint32_t chA, uint32_t chB, uint32_t chC, GPIO &enA, GPIO &enB, GPIO &enC, Encoder &encoder)
	Constructs a Motor object.
void	setEffort (int effort)
	Sets the motor effort as a percentage (-100 to 100).
void	commutate ()
	Applies 3-phase commutation based on current encoder angle and effort.
void	enable ()
	Enables all motor phases.
void	disable ()
	Disables all motor phases.
void	testCommutation (int32_t theta, float Vq)
	Applies open-loop commutation at specified angle and voltage.
void	applyPWM (float Va, float Vb, float Vc)
	Sets PWM outputs based on given phase voltages.

Detailed Description

Class for 3-phase BLDC motor control using PWM and encoder feedback.

Constructor & Destructor Documentation

Motor()

Motor::Motor	(	TIM_HandleTypeDef *	htim,
		uint32_t	chA,
		uint32_t	chB,
		uint32_t	chC,
		GPIO &	enA,
		GPIO &	enB,
		GPIO &	enC,
		Encoder &	encoder )

Constructs a Motor object.

Parameters

htim	Timer used for PWM.
chA	PWM channel A.
chB	PWM channel B.
chC	PWM channel C.
enA	GPIO enable pin A.
enB	GPIO enable pin B.
enC	GPIO enable pin C.
encoder	Reference to Encoder object.

Member Function Documentation

applyPWM()

void Motor::applyPWM	(	float	Va,
		float	Vb,
		float	Vc )

Sets PWM outputs based on given phase voltages.

Parameters

Va	Phase A voltage.
Vb	Phase B voltage.
Vc	Phase C voltage.

testCommutation()

void Motor::testCommutation	(	int32_t	theta,
		float	Vq )

Applies open-loop commutation at specified angle and voltage.

Parameters

theta	Electrical angle in encoder ticks.
Vq	Voltage magnitude.

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The documentation for this class was generated from the following files:

• C:/Users/nickl/OneDrive - Cal Poly/POLY4TH/SPRING'25/507/LAB WORKSPACE/SmartKnobController_REV2/Core/DoxCommd/motor.h
• C:/Users/nickl/OneDrive - Cal Poly/POLY4TH/SPRING'25/507/LAB WORKSPACE/SmartKnobController_REV2/Core/DoxCommd/motor.cpp