refactoring

Author: askuric

MotorFOCExample/BLDCmotor.h

@@ -4,9 +4,6 @@
 
 #include "Arduino.h"
 
-#define _2_SQRT3 1.15470053838
-#define _1_SQRT3 0.57735026919
-#define _120_D2R 2.09439510239
 
 // Power supply woltage
 #define U_MAX 12
@@ -28,6 +25,10 @@
 
 // sign funciton
 #define sign(a) ( ( (a) < 0 )  ?  -1   : ( (a) > 0 ) )
+// utility defines
+#define _2_SQRT3 1.15470053838
+#define _1_SQRT3 0.57735026919
+#define _120_D2R 2.09439510239
 
 
 // encoder measurement structure

MotorFOCExample/MotorFOCExample.ino

@@ -1,5 +1,4 @@
-#include "BLDCMotor.h"
-
+#include "BLDCmotor.h"
 
 // Encoder variables
 #define CPR 600  // counts per revolution
@@ -9,7 +8,6 @@
 #define encoderPinA 2             // Arduino UNO interrupt 0
 #define encoderPinB 3             // Arduino UNO interrupt 1
 
-
 /*
 BLDCMotorEncoder( int phA, int phB, int phC, int pp, int encA, int encB , int cpr, int en)
 - phA, phB, phC - motor A,B,C phase pwm pins
@@ -20,6 +18,11 @@ BLDCMotorEncoder( int phA, int phB, int phC, int pp, int encA, int encB , int cp
 */
 BLDCMotorEncoder motor = BLDCMotorEncoder(9, 10, 11, 11, encoderPinA,encoderPinB, PPR, 8);
 
+//  Encoder interrupt callback functions
+void doEncoderA() {motor.handleEncoderA();}
+// B channel
+void doEncoderB() {motor.handleEncoderB();}
+
 void setup() {
   // debugging port
   Serial.begin(115200);
@@ -75,12 +78,4 @@ void setPwmFrequency(int pin) {
 }
 
 
-//  Encoder interrupt callback functions
-void doEncoderA() {
-  motor.handleEncoderA();
-}
-// B channel
-void doEncoderB() {
-  motor.handleEncoderB();
-}