Pessoal,

Estou tendo dificuldades para manipular um motor Brushless, iPower GBM5208H de 200T, trifásico.

Não consigo fazer ele girar por completo, tentei de duas formas trabalhar com ele, mas não está fazendo muito sentido.

Nesse eu tentei de forma simples através de HIGH e LOW no Arduino.

Consegui o seguinte resultado mostrado neste vídeo: https://youtu.be/ruwCN2oBq78

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int IN1 = 9;
int IN2 = 10;
int IN3 = 11;

int tempDelay = 1000;

void setup()
{
//Define os pinos como saida
pinMode(IN1, OUTPUT);
pinMode(IN2, OUTPUT);
pinMode(IN3, OUTPUT);
Serial.begin(9600);
}

void loop()
{
Serial.println("INICIANDO...");

Serial.println("1");
digitalWrite(IN1, HIGH);
digitalWrite(IN2, HIGH);
digitalWrite(IN3, LOW);
delay(tempDelay);

Serial.println("2");
digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);
digitalWrite(IN3, LOW);
delay(tempDelay);

Serial.println("3");
digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);
digitalWrite(IN3, HIGH);
delay(tempDelay);

Serial.println("4");
digitalWrite(IN1, LOW);
digitalWrite(IN2, LOW);
digitalWrite(IN3, HIGH);
delay(tempDelay);

Serial.println("5");
digitalWrite(IN1, LOW);
digitalWrite(IN2, HIGH);
digitalWrite(IN3, HIGH);
delay(tempDelay);

Serial.println("6");
digitalWrite(IN1, LOW);
digitalWrite(IN2, HIGH);
digitalWrite(IN3, LOW);
delay(tempDelay);

}

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Agora, nesse eu tentei usando PWM

Consegui o seguinte resultado mostrado neste vídeo: https://youtu.be/Sa6QLaAhIbg

Com esse código, qualquer uma das variáveis pwmSin usadas têm o mesmo efeito:

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// Slow and precise BLDC motor driver using SPWM and SVPWM modulation
// Part of code used from http://elabz.com/
// (c) 2015 Ignas Gramba www.berryjam.eu
//

const int IN1 = 9;
const int IN2 = 10;
const int IN3 = 11;

// SPWM (Sine Wave)
//const int pwmSin[] = {127, 138, 149, 160, 170, 181, 191, 200, 209, 217, 224, 231, 237, 242, 246, 250, 252, 254, 254, 254, 252, 250, 246, 242, 237, 231, 224, 217, 209, 200, 191, 181, 170, 160, 149, 138, 127, 116, 105, 94, 84, 73, 64, 54, 45, 37, 30, 23, 17, 12, 8, 4, 2, 0, 0, 0, 2, 4, 8, 12, 17, 23, 30, 37, 45, 54, 64, 73, 84, 94, 105, 116 };

/// SVPWM (Space Vector Wave)
const int pwmSin[] = {128, 147, 166, 185, 203, 221, 238, 243, 248, 251, 253, 255, 255, 255, 253, 251, 248, 243, 238, 243, 248, 251, 253, 255, 255, 255, 253, 251, 248, 243, 238, 221, 203, 185, 166, 147, 128, 109, 90, 71, 53, 35, 18, 13, 8, 5, 3, 1, 1, 1, 3, 5, 8, 13, 18, 13, 8, 5, 3, 1, 1, 1, 3, 5, 8, 13, 18, 35, 53, 71, 90, 109};

//const int pwmSin[] = {128, 132, 136, 140, 143, 147, 151, 155, 159, 162, 166, 170, 174, 178, 181, 185, 189, 192, 196, 200, 203, 207, 211, 214, 218, 221, 225, 228, 232, 235, 238, 239, 240, 241, 242, 243, 244, 245, 246, 247, 248, 248, 249, 250, 250, 251, 252, 252, 253, 253, 253, 254, 254, 254, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 254, 254, 254, 253, 253, 253, 252, 252, 251, 250, 250, 249, 248, 248, 247, 246, 245, 244, 243, 242, 241, 240, 239, 238, 239, 240, 241, 242, 243, 244, 245, 246, 247, 248, 248, 249, 250, 250, 251, 252, 252, 253, 253, 253, 254, 254, 254, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 254, 254, 254, 253, 253, 253, 252, 252, 251, 250, 250, 249, 248, 248, 247, 246, 245, 244, 243, 242, 241, 240, 239, 238, 235, 232, 228, 225, 221, 218, 214, 211, 207, 203, 200, 196, 192, 189, 185, 181, 178, 174, 170, 166, 162, 159, 155, 151, 147, 143, 140, 136, 132, 128, 124, 120, 116, 113, 109, 105, 101, 97, 94, 90, 86, 82, 78, 75, 71, 67, 64, 60, 56, 53, 49, 45, 42, 38, 35, 31, 28, 24, 21, 18, 17, 16, 15, 14, 13, 12, 11, 10, 9, 8, 8, 7, 6, 6, 5, 4, 4, 3, 3, 3, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 3, 3, 3, 4, 4, 5, 6, 6, 7, 8, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 17, 16, 15, 14, 13, 12, 11, 10, 9, 8, 8, 7, 6, 6, 5, 4, 4, 3, 3, 3, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 3, 3, 3, 4, 4, 5, 6, 6, 7, 8, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 21, 24, 28, 31, 35, 38, 42, 45, 49, 53, 56, 60, 64, 67, 71, 75, 78, 82, 86, 90, 94, 97, 101, 105, 109, 113, 116, 120, 124};

int currentStepA;
int currentStepB;
int currentStepC;
int sineArraySize;
int increment = 0;
boolean direct = 1; // direction true=forward, false=backward

//////////////////////////////////////////////////////////////////////////////

void setup() {

setPwmFrequency(IN1); // Increase PWM frequency to 32 kHz (make unaudible)
setPwmFrequency(IN2);
setPwmFrequency(IN3);

pinMode(IN1, OUTPUT);
pinMode(IN2, OUTPUT);
pinMode(IN3, OUTPUT);

sineArraySize = sizeof(pwmSin)/sizeof(int); // Find lookup table size
int phaseShift = sineArraySize / 3; // Find phase shift and initial A, B C phase values
currentStepA = 0;
currentStepB = currentStepA + phaseShift;
currentStepC = currentStepB + phaseShift;

sineArraySize--; // Convert from array Size to last PWM array number
Serial.begin(9600);
}

//////////////////////////////////////////////////////////////////////////////

void loop() {

analogWrite(IN1, pwmSin[currentStepA]);
analogWrite(IN2, pwmSin[currentStepB]);
analogWrite(IN3, pwmSin[currentStepC]);

//Serial.print("A:");
Serial.print(pwmSin[currentStepA]);
Serial.print("\t");
Serial.print(pwmSin[currentStepB]);
Serial.print("\t");
Serial.print(pwmSin[currentStepC]);
Serial.print("\n");

if (direct==true) increment = 1;
else increment = -1;

currentStepA = currentStepA + increment;
currentStepB = currentStepB + increment;
currentStepC = currentStepC + increment;

//Check for lookup table overflow and return to opposite end if necessary
if(currentStepA > sineArraySize) currentStepA = 0;
if(currentStepA < 0) currentStepA = sineArraySize;

if(currentStepB > sineArraySize) currentStepB = 0;
if(currentStepB < 0) currentStepB = sineArraySize;

if(currentStepC > sineArraySize) currentStepC = 0;
if(currentStepC < 0) currentStepC = sineArraySize;

/// Control speed by this delay
delay(10);

}

void setPwmFrequency(int pin) {
if(pin == 9 || pin == 10) {
TCCR1B = TCCR1B & 0b11111000 | 0x01;
}
else if(pin == 11) {
TCCR2B = TCCR2B & 0b11111000 | 0x01;
}
}

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Eu já tentei de tudo e não sei mais o que posso tentar, se alguém tem experiência ou entenda sobre o assunto por favor me dê orientações :D

Obrigado!