2016 NTHU Robo / Mbed 2 deprecated pwm_test

311

Dependencies:   mbed

main.cpp@0:3be825a27f88, 2016-03-10 (annotated)

Committer:
HPWang
Date:
Thu Mar 10 19:53:25 2016 +0000
Revision:
0:3be825a27f88
lab1 part1 test

Who changed what in which revision?

UserRevisionLine numberNew contents of line
HPWang 0:3be825a27f88 1 #include "mbed.h"
HPWang 0:3be825a27f88 2
HPWang 0:3be825a27f88 3 PwmOut mypwm(PB_10);
HPWang 0:3be825a27f88 4 DigitalOut led1(LED1);//LED1 = D13 = PA_5 (LED on Nucleo board)
HPWang 0:3be825a27f88 5 Ticker timer1;
HPWang 0:3be825a27f88 6 Ticker timer2;
HPWang 0:3be825a27f88 7
HPWang 0:3be825a27f88 8 int a;
HPWang 0:3be825a27f88 9 int b;
HPWang 0:3be825a27f88 10 int c;
HPWang 0:3be825a27f88 11 float pwm_duty ;
HPWang 0:3be825a27f88 12 double angle ;
HPWang 0:3be825a27f88 13
HPWang 0:3be825a27f88 14 void init_IO(void)
HPWang 0:3be825a27f88 15 {
HPWang 0:3be825a27f88 16 a = 0;
HPWang 0:3be825a27f88 17 b = 0;
HPWang 0:3be825a27f88 18 c = 0;
HPWang 0:3be825a27f88 19 led1 = 0;
HPWang 0:3be825a27f88 20
HPWang 0:3be825a27f88 21 }
HPWang 0:3be825a27f88 22
HPWang 0:3be825a27f88 23
HPWang 0:3be825a27f88 24 void init_servo(void)
HPWang 0:3be825a27f88 25 {
HPWang 0:3be825a27f88 26 angle = 0;
HPWang 0:3be825a27f88 27 pwm_duty = 0.079;
HPWang 0:3be825a27f88 28 mypwm.period_ms(20);
HPWang 0:3be825a27f88 29 mypwm.write(pwm_duty);
HPWang 0:3be825a27f88 30 }
HPWang 0:3be825a27f88 31
HPWang 0:3be825a27f88 32
HPWang 0:3be825a27f88 33 void timer1_interrupt(void)
HPWang 0:3be825a27f88 34 {
HPWang 0:3be825a27f88 35 a ++ ;
HPWang 0:3be825a27f88 36 if (a == 500)led1 = 1;
HPWang 0:3be825a27f88 37
HPWang 0:3be825a27f88 38 else if (a == 1000)
HPWang 0:3be825a27f88 39 {
HPWang 0:3be825a27f88 40 led1 = 0;
HPWang 0:3be825a27f88 41 a = 0;
HPWang 0:3be825a27f88 42 b = b+1;
HPWang 0:3be825a27f88 43 }
HPWang 0:3be825a27f88 44 }
HPWang 0:3be825a27f88 45
HPWang 0:3be825a27f88 46
HPWang 0:3be825a27f88 47 void init_TIMER(void)
HPWang 0:3be825a27f88 48 {
HPWang 0:3be825a27f88 49 timer1.attach_us(&timer1_interrupt, 1000.0);//1ms interrupt period (1 KHz)
HPWang 0:3be825a27f88 50 }
HPWang 0:3be825a27f88 51
HPWang 0:3be825a27f88 52
HPWang 0:3be825a27f88 53
HPWang 0:3be825a27f88 54
HPWang 0:3be825a27f88 55
HPWang 0:3be825a27f88 56
HPWang 0:3be825a27f88 57 void run_servo(void)
HPWang 0:3be825a27f88 58 {
HPWang 0:3be825a27f88 59 angle = angle + c * 0.015;
HPWang 0:3be825a27f88 60 pwm_duty = 0.079 +(0.084/180)*angle;
HPWang 0:3be825a27f88 61 mypwm.write(pwm_duty);
HPWang 0:3be825a27f88 62 c++;
HPWang 0:3be825a27f88 63 if (c >6000)
HPWang 0:3be825a27f88 64 {
HPWang 0:3be825a27f88 65 timer2.detach();
HPWang 0:3be825a27f88 66 }
HPWang 0:3be825a27f88 67 }
HPWang 0:3be825a27f88 68
HPWang 0:3be825a27f88 69 void run_servo_counter(void)
HPWang 0:3be825a27f88 70 {
HPWang 0:3be825a27f88 71 timer2.attach_us(&run_servo, 1000.0);//1ms interrupt period (1 KHz)
HPWang 0:3be825a27f88 72 }
HPWang 0:3be825a27f88 73
HPWang 0:3be825a27f88 74 int main()
HPWang 0:3be825a27f88 75 {
HPWang 0:3be825a27f88 76 init_IO();
HPWang 0:3be825a27f88 77 init_servo();
HPWang 0:3be825a27f88 78 init_TIMER();
HPWang 0:3be825a27f88 79
HPWang 0:3be825a27f88 80 while(1)
HPWang 0:3be825a27f88 81 {
HPWang 0:3be825a27f88 82
HPWang 0:3be825a27f88 83 if (b >= 3)
HPWang 0:3be825a27f88 84 {
HPWang 0:3be825a27f88 85 run_servo_counter();
HPWang 0:3be825a27f88 86 }
HPWang 0:3be825a27f88 87
HPWang 0:3be825a27f88 88 else if(b > 10)
HPWang 0:3be825a27f88 89 {
HPWang 0:3be825a27f88 90 timer1.detach();
HPWang 0:3be825a27f88 91 timer2.detach();
HPWang 0:3be825a27f88 92 wait(1);
HPWang 0:3be825a27f88 93 init_IO();
HPWang 0:3be825a27f88 94 init_servo();
HPWang 0:3be825a27f88 95 wait(3);
HPWang 0:3be825a27f88 96 init_TIMER()
HPWang 0:3be825a27f88 97
HPWang 0:3be825a27f88 98 }
HPWang 0:3be825a27f88 99 }
HPWang 0:3be825a27f88 100
HPWang 0:3be825a27f88 101 }
HPWang 0:3be825a27f88 102