Programming Milestone 1 Group 7 BMT M9: Making robots move at different velocities/directions by adjusting potmeter.
Dependencies: FastPWM MODSERIAL mbed
Fork of Programming_Milestone_1 by
main.cpp
- Committer:
- brass_phoenix
- Date:
- 2018-10-19
- Revision:
- 8:e69799b5cce1
- Parent:
- 7:e4b475fceb86
File content as of revision 8:e69799b5cce1:
#include "mbed.h" #include "FastPWM.h" #include "MODSERIAL.h" Ticker motorTicker; // Ticker function 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) 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) 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 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 AnalogIn potmeter1(A4); // Analoge input van potmeter 1 -> Motor 1 AnalogIn potmeter2(A2); // Analoge input van potmeter 2 -> Motor 2 // Updates a motor connected to the specified pins with the given speed. // The speed can be both positive and negative. void update_motor(DigitalOut* dir, FastPWM* pwm, float speed) { // either true or false, determines direction (0 or 1) *dir = speed > 0; // pwm duty cycle can only be positive, floating point absolute value (if value is >0, the there still will be a positive value). *pwm = fabs(speed); } // Normalizes a potmeter value from it's original range of [0, 1] to [-1, 1] float normalize_pot(float pot_value) { // scales value potmeter from 0-1 to -1 - 1. return pot_value * 2 - 1; }; void motorfunction() { // reads out value potmeter 1 between 0-1 float pot1 = potmeter1.read(); float motor1_speed = normalize_pot(pot1); // reads out value potmeter 2 between 0-1 float pot2 = potmeter2.read(); float motor2_speed = normalize_pot(pot2); // Update both motors. update_motor(&directionpin1, &pwmpin1, motor1_speed); update_motor(&directionpin2, &pwmpin2, motor2_speed); } int main() { pwmpin1.period_us(60.0); // 60 microseconds PWM period, 16.7 kHz, defines all PWM pins (only needs to be done once) motorTicker.attach(motorfunction,0.5); while(true){} //Lege while loop zodat functie niet afloopt }