![]() When the duty cycle is 0%, the motor will stop completely. The use of this PWM can be used to control motor rotation through changes in PWM duty cycle or PWM pulse width. The greater the voltage, the faster the rotation of an electric motor. The speed of the electric motor depends on the modulator voltage. One method that is often used to control the speed of a DC motor is the Pulse Width Modulation (PWM) method. Where htimX is the instance of the timer X used as encoder (e.g. The current value of the counter can be accessed though the following function: HAL_TIM_Encoder_Start_IT(&htimx, TIM_CHANNEL_ALL) Once configured, we should start the timer as follows: ![]() Encoder Mode:Should be set to "Encoder Mode TI1 and TI2" for handling both encoder channels.value of the timer's counter before reset. Counter Period: Parameter to set the value of the ARR register.Once the timer has been configured as an encoder, we must activate corresponding global interrupt in the NVIC Interrupt Table. It is very important to configure this timer using the Encoder Mode in the Combined Channels (Channels 1 and 2) of the selected timer. ![]() The main timers that can be set as PWM are: TIM2, TIM3, TIM4 and TIM5.Īdvice: It is recommended to use the timer that matches directly with the pins connected to the encoder of the motor through the H-bridge. The first step is to select one of the available timers that can be This section explains how to easily configure an STM32 timer as an encoder with STM32CubeIDE. These two channels are square waves which are 90º out of phase. Additionally, the output of the encoder comes from reading the output of the two channels, channel A and channel B, of the hall sensor. The hall sensor requires an input voltage, Vcc. This means that, for a complete turn of the motor shaft, the encoder provides a value of 48 counts. It is a quadrature encoder that is attached to the motor shaft and which provides a resolution of 48 counts per revolution. The encoder used in the laboratory is a position sensor that uses a two-channels hall effect sensor. HAL_GPIO_WritePin(GPIOA, GPIO_PIN_8, GPIO_PIN_RESET) HAL_GPIO_WritePin(GPIOA, GPIO_PIN_8, GPIO_PIN_SET) To install STM32CubeIDE and to run a Hello World example, please check it here: GPIO read and write Read from a GPIO
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