MeanEYE / Arduino-Switched-Reluctance-Motor-Control

Simple Arduino library written in pure C that allows control of switched reluctance motors such as those found in hard disk drives.

Switched Reluctance Motor Control

This simple library allows control of switch reluctance motors such as those found in hard disks. It provides varying degrees of precision assuming three phases.

Library also supports rudimentary speed control which allows programmers to control motor speed without resorting to usage of delay. This is done through setting speed measured in revolutions per minute and calling motor_step or motor_step_backward frequently. State of pins will be updated only after specific time has passed. Speed control does take into account sequence sizes, so no additional calculation is needed.

Please note that:

• You should not connect motor contacts directly to your micro-controller as they use much higher current than what your controller can provide and will most likely result in a damaged hardware. Instead you should come up with indirect solution such as one with transistors or optocoupler;
• You can have multiple different sequences using the same pins. However be careful when switching between the two while motor is running as you might cause motor to stall. Ideally you should synchronize when position == 1;
• Avoid setting position manually (and pretty much anything else in config). It's not a typical counter. Library is stepping through sequence by shifting bits to the left or right;
• Calling motor_release will stop applying any voltage to configured pins but phase will continue to cycle. Calling motor_resume again will resume applying voltage to pins. This is useful if you wish to spin up the motor and let it run on its own for a while.

Simple example without speed control.

Sequence *motor;

void setup()
{
	// configure pins 2, 3 and 4 as individual phases
	motor = motor_initialize(2, 3, 4, SEQUENCE_SIMPLE);
}

void loop()
{
	motor_step(motor);
	delay(200);
}

The following example tries to keep motor spinning at 1000 revolutions per minute. Advantage of speed control is that it allows you to use cycles for something else other than waiting for delay to return.

Sequence *motor;

void setup()
{
	// configure pins 2, 3 and 4 as individual phases
	motor = motor_initialize(2, 3, 4, SEQUENCE_SIMPLE);

	// configure speed control
	motor_set_speed(motor, 1000);
	motor_set_speed_control(motor, true);
}

void loop()
{
	motor_step(motor);
}

License

This program is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation; either version 3 of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with this program; if not, write to the Free Software Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.