def run():
heartbeatOff();
roboveroConfig()
MCPWM_Init(LPC_MCPWM)
channelsetup=[]
for i in range(3):
channelsetup.append(MCPWM_CHANNEL_CFG_Type())
channelsetup[0].channelType = MCPWM_CHANNEL_EDGE_MODE
channelsetup[0].channelPolarity = MCPWM_CHANNEL_PASSIVE_LO
channelsetup[0].channelDeadtimeEnable = FunctionalState.DISABLE
channelsetup[0].channelDeadtimeValue = 0
channelsetup[0].channelUpdateEnable = FunctionalState.ENABLE
channelsetup[0].channelTimercounterValue = 0
channelsetup[0].channelPeriodValue = 900
channelsetup[0].channelPulsewidthValue = 450
channelsetup[1].channelType = MCPWM_CHANNEL_EDGE_MODE
channelsetup[1].channelPolarity = MCPWM_CHANNEL_PASSIVE_LO
channelsetup[1].channelDeadtimeEnable = FunctionalState.DISABLE
channelsetup[1].channelDeadtimeValue = 0
channelsetup[1].channelUpdateEnable = FunctionalState.ENABLE
channelsetup[1].channelTimercounterValue = 0
channelsetup[1].channelPeriodValue = 900
channelsetup[1].channelPulsewidthValue = 200
channelsetup[2].channelType = MCPWM_CHANNEL_EDGE_MODE
channelsetup[2].channelPolarity = MCPWM_CHANNEL_PASSIVE_LO
channelsetup[2].channelDeadtimeEnable = FunctionalState.DISABLE
channelsetup[2].channelDeadtimeValue = 0
channelsetup[2].channelUpdateEnable = FunctionalState.ENABLE
channelsetup[2].channelTimercounterValue = 0
channelsetup[2].channelPeriodValue = 900
channelsetup[2].channelPulsewidthValue = 200
MCPWM_ConfigChannel(LPC_MCPWM, 0, channelsetup[0].ptr)
MCPWM_ConfigChannel(LPC_MCPWM, 1, channelsetup[1].ptr)
MCPWM_ConfigChannel(LPC_MCPWM, 2, channelsetup[2].ptr)
#DC Mode
MCPWM_DCMode(LPC_MCPWM, FunctionalState.ENABLE, FunctionalState.DISABLE, (0))
MCPWM_Start(LPC_MCPWM, FunctionalState.ENABLE, FunctionalState.ENABLE, FunctionalState.ENABLE)
try:
while True:
#MCPWM_WriteToShadow(LPC_MCPWM, 0, channelsetup[0].ptr) #Change the speed
for i in range(6):
BLDC_commutate(i)
except:
MCPWM_Stop(LPC_MCPWM, FunctionalState.ENABLE, FunctionalState.ENABLE, FunctionalState.ENABLE)
heartbeatOn()
print "you broke it"
def run():
roboveroConfig()
pinMode(LED, OUTPUT)
heartbeatOff()
# Initialize script
myscript=Script([["GPIO_ClearValue", 3, 2000000],
["delay",10000000],
["GPIO_SetValue", 3, 2000000]])
print "script added"
try:
while True:
raw_input("Press Enter to run script")
print myscript.run()
print "script done"
# append to script
myscript.append("delay",10000000)
myscript.append("GPIO_ClearValue", 3, 2000000)
myscript.append("delay",10000000)
myscript.append("GPIO_SetValue",3, 2000000)
except:
heartbeatOn()
print "goodbye"
