/*Driving a DVD drive spindle three-phase motor This code was used for the stroboscope project This example code is in the public domain. Based on several Arduino code samples http://elabz.com/ */ // constants won't change. They're used here to// set pin numbers:const int buttonPin = 8;// the number of the direction pushbutton pinconst int ledPin = 7; // the number of the status LED pin (not the flash LED)const int potPin = 0; // pot controls the RPM speedconst int potPinFlash = 1; // pot controls the flash speedconst int motorPin1 =9;const int motorPin2 =10;const int motorPin3 =11;const int flashPin =12;const int motorDelay=5; // together with pot controls the RPMconst int flashDelay=2; // controls duration of flashconst int frames=12; // has to be divisible by 3 in this versionconst int serialDelay = 2000; //debug onlylong serialLast =0; //debug only// Variables will change:boolean ledState = false; // the current state of the status LED output pinint buttonState; // the current reading from the direction input pinint potState; // the current reading from the RPM speed potentiometerint potStateFlash; // the current reading from the flash rate potentiometerint lastButtonState = LOW;int debounceDelay = 50; // the debounce time; increase if the output flickersboolean direct = true; // direction true=forward, false=backward /*int pwmSin[] = {127,110,94,78,64,50,37,26,17,10,4,1,0,1,4,10,17,26,37,50,64,78,94,110,127,144,160,176,191,204,217,228,237,244,250,253,254,253,250,244,237,228,217,204,191,176,160,144,127}; // array of PWM duty values for 8-bit timer - sine function*/ int pwmSin[]={511,444,379,315,256,200,150,106,68,39,17,4,0,4,17,39,68,106,150,200,256,315,379,444,511,578,643,707,767,822,872,916,954,983,1005,1018,1022,1018,1005,983,954,916,872,822,767,707,643,578,511}; // array of PWM duty values for 10-bit timer - sine function int increment;int flashIncrement = 0;int currentFlash=0;int currentStepA=0;int currentStepB=16;int currentStepC=32;// the following variables are long's because the time, measured in miliseconds,// will quickly become a bigger number than can be stored in an int.long lastDebounceTime = 0; // the last time the output pin was toggledlong motorDelayActual = 0; // the actual delay, based on pot value and motor delay set abovelong flashDelayActual = 0;long flashDelayPerCycle = 0;

long lastMotorDelayTime = 0;long flashTime = 0; // how long has flash been ONlong flashTimeOFF = 0; // how long has flash been OFF void setup() { TCCR1B = TCCR1B & 0b11111000 | 0x01; // set PWM frequency @ 31250 Hz for Pins 9 and 10 TCCR2B = TCCR2B & 0b11111000 | 0x01; // set PWM frequency @ 31250 Hz for Pins 11 and 3 (3 not used)// ICR1 = 255 ; // 8 bit resolution ICR1 = 1023 ; // 10 bit resolution pinMode(buttonPin, INPUT); pinMode(potPin, INPUT); pinMode(potPinFlash, INPUT); pinMode(ledPin, OUTPUT); pinMode(motorPin1, OUTPUT); pinMode(motorPin2, OUTPUT); pinMode(motorPin3, OUTPUT); pinMode(flashPin, OUTPUT); digitalWrite(flashPin, LOW);} void loop() { // read the state of the switch into a local variable: int reading = digitalRead(buttonPin); // check to see if you just pressed the button // (i.e. the input went from LOW to HIGH), and you've waited // long enough since the last press to ignore any noise: // If the switch changed, due to noise or pressing: if (reading != lastButtonState) { // reset the debouncing timer lastDebounceTime = millis(); } if ((millis() - lastDebounceTime) > debounceDelay) { // whatever the reading is at, it's been there for longer // than the debounce delay, so take it as the actual current state: buttonState = reading; direct = !direct; ledState = !ledState; lastButtonState = reading; } // set the LED using the state of the button: digitalWrite(ledPin, ledState); // save the reading. Next time through the loop, // it'll be the lastButtonState: potStateFlash = analogRead(potPinFlash); potState = analogRead(potPin);motorDelayActual = potState * motorDelay / 100;// flashDelayActual = flashDelay+potStateFlash/200; // if we were controlling it with a POTflashDelayActual = flashDelay;

move(); } void move(){if((millis() - flashTime) > flashDelayActual){ digitalWrite(flashPin, HIGH); } if((millis() - lastMotorDelayTime) > motorDelayActual){ // delay time passed, move one step if (direct==true){ increment = 1;} else { increment = -1; } currentStepA = currentStepA + increment; if(currentStepA > 47) currentStepA = 0; if(currentStepA<0) currentStepA =47; currentStepB = currentStepB + increment; if(currentStepB > 47) currentStepB = 0; if(currentStepB<0) currentStepB =47; currentStepC = currentStepC + increment; if(currentStepC > 47) currentStepC = 0; if(currentStepC<0) currentStepC =47; lastMotorDelayTime = millis();//flashDelayPerCycle = flashDelayPerCycle + flashDelayPerCycle;currentFlash = currentFlash + 1;if(currentFlash>24) { digitalWrite(flashPin, LOW); currentFlash=0; flashTime = millis(); flashDelayActual = millis(); } } analogWrite(motorPin1, pwmSin[currentStepA]);analogWrite(motorPin2, pwmSin[currentStepB]);analogWrite(motorPin3, pwmSin[currentStepC]); }