Biorobotics / Mbed 2 deprecated Motor_moving_setpoint

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Dependencies:   QEI mbed

main.cpp@1:c855dee2c6d4, 2015-09-28 (annotated)

Committer:
yohoo15
Date:
Mon Sep 28 12:33:24 2015 +0000
Revision:
1:c855dee2c6d4
Parent:
0:70a6fd5751a6
Child:
2:f0215a034e04
Volatitle bool doet het niet?

Who changed what in which revision?

UserRevisionLine numberNew contents of line
yohoo15 0:70a6fd5751a6 1 #include "mbed.h"
yohoo15 0:70a6fd5751a6 2 #include "QEI.h"
yohoo15 0:70a6fd5751a6 3
yohoo15 0:70a6fd5751a6 4 Serial pc(USBTX, USBRX);
yohoo15 0:70a6fd5751a6 5 QEI wheel (PTC10, PTC11, NC, 624); // Pin for counting (analog in)
yohoo15 0:70a6fd5751a6 6
yohoo15 0:70a6fd5751a6 7 // Define pin for motor control
yohoo15 0:70a6fd5751a6 8 DigitalOut directionPin(D4);
yohoo15 0:70a6fd5751a6 9 PwmOut PWM(D5);
yohoo15 0:70a6fd5751a6 10
yohoo15 0:70a6fd5751a6 11
yohoo15 0:70a6fd5751a6 12
yohoo15 0:70a6fd5751a6 13 // 8400 counts per revolution
yohoo15 0:70a6fd5751a6 14 // so 8400 / (2 *pi) is counts/pi
yohoo15 0:70a6fd5751a6 15
yohoo15 0:70a6fd5751a6 16
yohoo15 0:70a6fd5751a6 17 Ticker tellen;
yohoo15 1:c855dee2c6d4 18 volatile bool stoppen = false;
yohoo15 0:70a6fd5751a6 19
yohoo15 0:70a6fd5751a6 20 void GOTO()
yohoo15 0:70a6fd5751a6 21 {
yohoo15 1:c855dee2c6d4 22 double Offset = 10511 ;//8400 counts is aangegeven op de motor ( is te weinig) 10511 schiet iets over
yohoo15 1:c855dee2c6d4 23 double resolution = Offset / (2 * 3.14159265);
yohoo15 0:70a6fd5751a6 24 double Rotation = 4; // rotation in pi
yohoo15 0:70a6fd5751a6 25 double movement = Rotation * resolution;
yohoo15 0:70a6fd5751a6 26
yohoo15 0:70a6fd5751a6 27 // pc.printf("The number of real rotation is %i \n",Rotation);
yohoo15 0:70a6fd5751a6 28
yohoo15 0:70a6fd5751a6 29
yohoo15 0:70a6fd5751a6 30 if (wheel.getPulses() <= movement) {
yohoo15 0:70a6fd5751a6 31 directionPin.write(1);
yohoo15 0:70a6fd5751a6 32 PWM.write(0.3);
yohoo15 0:70a6fd5751a6 33 pc.printf("Pulses is: %i\n", wheel.getPulses());
yohoo15 0:70a6fd5751a6 34 } else {
yohoo15 0:70a6fd5751a6 35 PWM.write(0);
yohoo15 0:70a6fd5751a6 36 //pc.printf("The motor turned %i rotations \n",Rotation);
yohoo15 0:70a6fd5751a6 37 pc.printf("Pulses is: %i\n The motor turned %.2f rotations\n", wheel.getPulses(),Rotation);
yohoo15 0:70a6fd5751a6 38 stoppen = true;
yohoo15 0:70a6fd5751a6 39
yohoo15 0:70a6fd5751a6 40
yohoo15 0:70a6fd5751a6 41 }
yohoo15 0:70a6fd5751a6 42
yohoo15 0:70a6fd5751a6 43
yohoo15 0:70a6fd5751a6 44
yohoo15 0:70a6fd5751a6 45
yohoo15 0:70a6fd5751a6 46 }
yohoo15 0:70a6fd5751a6 47
yohoo15 0:70a6fd5751a6 48
yohoo15 0:70a6fd5751a6 49
yohoo15 0:70a6fd5751a6 50 int main()
yohoo15 1:c855dee2c6d4 51
yohoo15 0:70a6fd5751a6 52 {
yohoo15 0:70a6fd5751a6 53 int proberen = 1000;
yohoo15 0:70a6fd5751a6 54 pc.printf("The number of rotation is %i \n",proberen);
yohoo15 0:70a6fd5751a6 55
yohoo15 0:70a6fd5751a6 56
yohoo15 0:70a6fd5751a6 57
yohoo15 0:70a6fd5751a6 58
yohoo15 1:c855dee2c6d4 59 while(stoppen == false){
yohoo15 0:70a6fd5751a6 60 tellen.attach(&GOTO, 0.1);
yohoo15 1:c855dee2c6d4 61 }
yohoo15 0:70a6fd5751a6 62
yohoo15 0:70a6fd5751a6 63
yohoo15 0:70a6fd5751a6 64
yohoo15 0:70a6fd5751a6 65
yohoo15 0:70a6fd5751a6 66
yohoo15 0:70a6fd5751a6 67
yohoo15 0:70a6fd5751a6 68
yohoo15 0:70a6fd5751a6 69
yohoo15 0:70a6fd5751a6 70 }