Using the boards from the hoverboard in autopilot.

geofrancis · August 18, 2022, 3:17pm

I keep looking at the hall sensor example code to see if i can get the encoders working on the wheels, my understanding is that using the example code from Digikey to read the hall sensors we just need to then use some more code to output an emulated quadrature encoded signal.

this might work with modifications.

I have done the modifications, it compiles on a stm32f401 but i havent tested it yet.

github.com

geofrancis/hall-sensor-to-Quadrature-encoder-adapter./blob/main/encoder

/***************************** Variables *********************************/


//INPUT/////////////////////
#define CW             1      // Assign a value to represent clock wise rotation
#define CCW           -1      // Assign a value to represent counter-clock wise rotation

bool HSU_Val = digitalRead(2);    // Set the U sensor value as boolean and read initial state
bool HSV_Val = digitalRead(3);    // Set the V sensor value as boolean and read initial state 
bool HSW_Val = digitalRead(4);    // Set the W sensor value as boolean and read initial state 

int direct = 1;       // Integer variable to store BLDC rotation direction
int pulseCount;       // Integer variable to store the pulse count

float startTime;        // Float variable to store the start time of the current interrupt 
float prevTime;         // Float variable to store the start time of the previous interrupt 
float pulseTimeW;       // Float variable to store the elapsed time between interrupts for hall sensor W 
float pulseTimeU;       // Float variable to store the elapsed time between interrupts for hall sensor U 
float pulseTimeV;       // Float variable to store the elapsed time between interrupts for hall sensor V 
float AvPulseTime;      // Float variable to store the average elapsed time between all interrupts

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I copy and pasted a dual motor version together, it compiles but i havent tested it further, I have ran out of stm boards.

github.com

geofrancis/hall-sensor-to-Quadrature-encoder-adapter./blob/main/hall_wheel_encoder_DUAL.ino

/* BLDC Hall Sensor read and calculation program for Teensy 3.5 in the Arduino IDE (Ver.1). Digi-Key Electronics*/

/***************************** Variables *********************************/


//INPUT/////////////////////
#define CW             1      // Assign a value to represent clock wise rotation
#define CCW           -1      // Assign a value to represent counter-clock wise rotation

bool HSU_Val = digitalRead(2);    // Set the U sensor value as boolean and read initial state
bool HSV_Val = digitalRead(3);    // Set the V sensor value as boolean and read initial state 
bool HSW_Val = digitalRead(4);    // Set the W sensor value as boolean and read initial state 


bool HSU_Val2 = digitalRead(5);    // Set the U sensor value as boolean and read initial state
bool HSV_Val2 = digitalRead(6);    // Set the V sensor value as boolean and read initial state 
bool HSW_Val2 = digitalRead(7);    // Set the W sensor value as boolean and read initial state 

int direct = 1;       // Integer variable to store BLDC rotation direction
int pulseCount;       // Integer variable to store the pulse count

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