Hardware manual

Now I will write couple of words about HalDetector. After uploading the driver with above

function and compilation of the main program we can call it by typing:

./haldetector

Next step is that we need to choose proper band rate, node to RS-232 device and the length of

phase tables. If we 

 checkbox. Then we just

click on the button start and wait. Detection can take up to round 5 min and should be repeated

at least two times. The reason for it is that it can by possible that when we switch the motor on,

      means that when we send first PWM outputs from phase

tables, the rotor will rotate little bit in wrong direction and it will cross hall border or index

mark, giving rise to wrong results. The situation of this is presented on the picture nr 6.6-2.

Fig.6.6-2. Wrong direction of the rotor's rotation.

If it goes about the code of the program, we can say it consists from three files:

main.cpp

haldetector.h

haldetector.cpp

First from the above is just the initialization of the main window frame/widget. Second file has a

declaration of the class Form1, in which I defined all functions and variables used later in the

program. For us the most important is the private section:

private:

int fd; // device

short phaseTableLen; // length of phase tables

short *ph1,*ph2,*ph3; // phase table

bool working; // if we make some discoveries ;o)

int initport(int fd); // initialize given port