Biorobotics 7 / Mbed 2 deprecated PES_Tutorial_5_Assignments

Tutorial 5 Assignment --> Niet af

Dependencies:   FastPWM MODSERIAL QEI mbed

main.cpp@0:fa6d20d54b4f, 2018-10-15 (annotated)

Committer:
MAHCSnijders
Date:
Mon Oct 15 08:21:03 2018 +0000
Revision:
0:fa6d20d54b4f
Child:
1:a1fe2023f69c
FINAL

Who changed what in which revision?

UserRevisionLine numberNew contents of line
MAHCSnijders 0:fa6d20d54b4f 1 #include "mbed.h"
MAHCSnijders 0:fa6d20d54b4f 2 #include "FastPWM.h"
MAHCSnijders 0:fa6d20d54b4f 3 #include "MODSERIAL.h"
MAHCSnijders 0:fa6d20d54b4f 4
MAHCSnijders 0:fa6d20d54b4f 5 Ticker motor; // Ticker function
MAHCSnijders 0:fa6d20d54b4f 6 FastPWM pwmpin1(D5); // SPECIFIC PIN (hoeft niet aangesloten te worden) Tells you how fast the motor has to go (later: pwmpin.write will tell you the duty cycle, aka how much voltage the motor gets)
MAHCSnijders 0:fa6d20d54b4f 7 FastPWM pwmpin2(D6); // SPECIFIC PIN (hoeft niet aangesloten te worden) Tells you how fast the motor has to go (later: pwmpin.write will tell you the duty cycle, aka how much voltage the motor gets)
MAHCSnijders 0:fa6d20d54b4f 8 DigitalOut directionpin1(D4); // SPECIFIC PIN (hoeft niet aangesloten te worden) Direction value (0-1) that the mbed will give the motor: in which direction the motor must rotate
MAHCSnijders 0:fa6d20d54b4f 9 DigitalOut directionpin2(D7); // SPECIFIC PIN (hoeft niet aangesloten te worden) Direction value (0-1) that the mbed will give the motor: in which direction the motor must rotate
MAHCSnijders 0:fa6d20d54b4f 10 AnalogIn potmeter1(A4); // Analoge input van potmeter 1 -> Motor 1
MAHCSnijders 0:fa6d20d54b4f 11 AnalogIn potmeter2(A1); // Analoge input van potmeter 2 -> Motor 2
MAHCSnijders 0:fa6d20d54b4f 12
MAHCSnijders 0:fa6d20d54b4f 13 volatile float pot1;
MAHCSnijders 0:fa6d20d54b4f 14 volatile float pot2;
MAHCSnijders 0:fa6d20d54b4f 15 volatile float pot1_scale;
MAHCSnijders 0:fa6d20d54b4f 16 volatile float pot2_scale;
MAHCSnijders 0:fa6d20d54b4f 17 volatile float u1;
MAHCSnijders 0:fa6d20d54b4f 18 volatile float u2;
MAHCSnijders 0:fa6d20d54b4f 19
MAHCSnijders 0:fa6d20d54b4f 20 void motorfunction()
MAHCSnijders 0:fa6d20d54b4f 21 { pot1 = potmeter1.read(); // reads out value potmeter 1 between 0-1
MAHCSnijders 0:fa6d20d54b4f 22 pot1_scale = pot1*2 -1; // scales value potmeter from 0 - 1 to -1 - 1
MAHCSnijders 0:fa6d20d54b4f 23 pot2 = potmeter2.read(); // reads out value potmeter 2 between 0-1
MAHCSnijders 0:fa6d20d54b4f 24 pot2_scale = pot2*2 -1; // scales value potmeter from 0 - 1 to -1 - 1
MAHCSnijders 0:fa6d20d54b4f 25 u1 = pot1_scale; // motor control signal
MAHCSnijders 0:fa6d20d54b4f 26 u2 = pot2_scale; // motor control signal
MAHCSnijders 0:fa6d20d54b4f 27 directionpin1 = u1 > 0.0f; // either true or false, determines direction (0 or 1)
MAHCSnijders 0:fa6d20d54b4f 28 directionpin2 = u2 > 0.0f; // either true or false, determines direction (0 or 1)
MAHCSnijders 0:fa6d20d54b4f 29 pwmpin1 = fabs(u1); // pwm duty cycle can only be positive, floating point absolute value (if value is >0, there still will be a positive value).
MAHCSnijders 0:fa6d20d54b4f 30 pwmpin2 = fabs(u2); // pwm duty cycle can only be positive, floating point absolute value (if value is >0, there still will be a positive value).
MAHCSnijders 0:fa6d20d54b4f 31 }
MAHCSnijders 0:fa6d20d54b4f 32
MAHCSnijders 0:fa6d20d54b4f 33 int main()
MAHCSnijders 0:fa6d20d54b4f 34 {
MAHCSnijders 0:fa6d20d54b4f 35 pwmpin1.period_us(60.0); //60 microseconds PWM period, 16.7 kHz, defines all PWM pins (only needs to be done once)
MAHCSnijders 0:fa6d20d54b4f 36 motor.attach(motorfunction,0.5);
MAHCSnijders 0:fa6d20d54b4f 37 while(true){} //Lege while loop zodat functie niet afloopt
MAHCSnijders 0:fa6d20d54b4f 38 }