nicer code
Dependencies: mbed
Fork of 161015 by
main.cpp@0:e79700919e2e, 2015-10-16 (annotated)
- Committer:
- benparkes
- Date:
- Fri Oct 16 12:39:12 2015 +0000
- Revision:
- 0:e79700919e2e
- Child:
- 1:f4e3365155e1
16/10/15;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
benparkes | 0:e79700919e2e | 1 | #include "mbed.h" |
benparkes | 0:e79700919e2e | 2 | |
benparkes | 0:e79700919e2e | 3 | #define wheelc 0.1759292 |
benparkes | 0:e79700919e2e | 4 | #define pi 3.141592654 |
benparkes | 0:e79700919e2e | 5 | #define degreel 0.021988888 |
benparkes | 0:e79700919e2e | 6 | //Status LED |
benparkes | 0:e79700919e2e | 7 | DigitalOut led(LED1); |
benparkes | 0:e79700919e2e | 8 | |
benparkes | 0:e79700919e2e | 9 | //Motor PWM (speed) |
benparkes | 0:e79700919e2e | 10 | PwmOut PWMA(PA_8); |
benparkes | 0:e79700919e2e | 11 | PwmOut PWMB(PB_4); |
benparkes | 0:e79700919e2e | 12 | |
benparkes | 0:e79700919e2e | 13 | //Motor Direction |
benparkes | 0:e79700919e2e | 14 | DigitalOut DIRA(PA_9); |
benparkes | 0:e79700919e2e | 15 | DigitalOut DIRB(PB_10); |
benparkes | 0:e79700919e2e | 16 | |
benparkes | 0:e79700919e2e | 17 | //Hall-Effect Sensor Inputs |
benparkes | 0:e79700919e2e | 18 | InterruptIn HEA1(PB_2); |
benparkes | 0:e79700919e2e | 19 | DigitalIn HEA2(PB_1); |
benparkes | 0:e79700919e2e | 20 | InterruptIn HEB1(PB_15); |
benparkes | 0:e79700919e2e | 21 | DigitalIn HEB2(PB_14); |
benparkes | 0:e79700919e2e | 22 | |
benparkes | 0:e79700919e2e | 23 | //On board switch |
benparkes | 0:e79700919e2e | 24 | DigitalIn SW1(USER_BUTTON); |
benparkes | 0:e79700919e2e | 25 | |
benparkes | 0:e79700919e2e | 26 | //Use the serial object so we can use higher speeds |
benparkes | 0:e79700919e2e | 27 | Serial terminal(USBTX, USBRX); |
benparkes | 0:e79700919e2e | 28 | |
benparkes | 0:e79700919e2e | 29 | //Timer used for measuring speeds |
benparkes | 0:e79700919e2e | 30 | Timer timer; |
benparkes | 0:e79700919e2e | 31 | |
benparkes | 0:e79700919e2e | 32 | //Enumerated types |
benparkes | 0:e79700919e2e | 33 | enum DIRECTION {FORWARD=0, REVERSE}; |
benparkes | 0:e79700919e2e | 34 | enum PULSE {NOPULSE=0, PULSE}; |
benparkes | 0:e79700919e2e | 35 | enum SWITCHSTATE {PRESSED=0, RELEASED}; |
benparkes | 0:e79700919e2e | 36 | |
benparkes | 0:e79700919e2e | 37 | //Debug GPIO |
benparkes | 0:e79700919e2e | 38 | DigitalOut probe(D10); |
benparkes | 0:e79700919e2e | 39 | |
benparkes | 0:e79700919e2e | 40 | //Duty cycles |
benparkes | 0:e79700919e2e | 41 | float dutyA = 1.000f; //100% |
benparkes | 0:e79700919e2e | 42 | float dutyB = 1.000f; //100% |
benparkes | 0:e79700919e2e | 43 | |
benparkes | 0:e79700919e2e | 44 | //distance measurement |
benparkes | 0:e79700919e2e | 45 | float distanceA ; |
benparkes | 0:e79700919e2e | 46 | float distanceB ; |
benparkes | 0:e79700919e2e | 47 | float speedA ; |
benparkes | 0:e79700919e2e | 48 | float speedB ; |
benparkes | 0:e79700919e2e | 49 | float pretimerA; |
benparkes | 0:e79700919e2e | 50 | float afttimerA; |
benparkes | 0:e79700919e2e | 51 | float pretimerB; |
benparkes | 0:e79700919e2e | 52 | float afttimerB; |
benparkes | 0:e79700919e2e | 53 | float wheel_spacing = 0.128; |
benparkes | 0:e79700919e2e | 54 | |
benparkes | 0:e79700919e2e | 55 | //Completed Loop |
benparkes | 0:e79700919e2e | 56 | int loop=0; |
benparkes | 0:e79700919e2e | 57 | |
benparkes | 0:e79700919e2e | 58 | int turn(); |
benparkes | 0:e79700919e2e | 59 | void ResetDistanceTimeSpeed() |
benparkes | 0:e79700919e2e | 60 | { |
benparkes | 0:e79700919e2e | 61 | distanceA=0; |
benparkes | 0:e79700919e2e | 62 | distanceB=0; |
benparkes | 0:e79700919e2e | 63 | speedA=0; |
benparkes | 0:e79700919e2e | 64 | speedB=0; |
benparkes | 0:e79700919e2e | 65 | pretimerA=0; |
benparkes | 0:e79700919e2e | 66 | pretimerB=0; |
benparkes | 0:e79700919e2e | 67 | afttimerA=0; |
benparkes | 0:e79700919e2e | 68 | afttimerB=0; |
benparkes | 0:e79700919e2e | 69 | timer.reset(); |
benparkes | 0:e79700919e2e | 70 | timer.start(); |
benparkes | 0:e79700919e2e | 71 | } |
benparkes | 0:e79700919e2e | 72 | |
benparkes | 0:e79700919e2e | 73 | void stopmotors() |
benparkes | 0:e79700919e2e | 74 | { |
benparkes | 0:e79700919e2e | 75 | PWMA.write(0.0f); //0% duty cycle |
benparkes | 0:e79700919e2e | 76 | PWMB.write(0.0f); //0% duty cycle |
benparkes | 0:e79700919e2e | 77 | } |
benparkes | 0:e79700919e2e | 78 | |
benparkes | 0:e79700919e2e | 79 | int forward(float distance, float speed) |
benparkes | 0:e79700919e2e | 80 | { |
benparkes | 0:e79700919e2e | 81 | //add forward to input with switch for scalability |
benparkes | 0:e79700919e2e | 82 | // Set motor direction forward |
benparkes | 0:e79700919e2e | 83 | DIRA = FORWARD; |
benparkes | 0:e79700919e2e | 84 | DIRB = FORWARD; |
benparkes | 0:e79700919e2e | 85 | |
benparkes | 0:e79700919e2e | 86 | //reset distance |
benparkes | 0:e79700919e2e | 87 | ResetDistanceTimeSpeed(); |
benparkes | 0:e79700919e2e | 88 | |
benparkes | 0:e79700919e2e | 89 | // Set motor speed to input speed |
benparkes | 0:e79700919e2e | 90 | PWMA.write(0.1); //Set duty cycle (%) |
benparkes | 0:e79700919e2e | 91 | PWMB.write(0.1); //Set duty cycle (%) |
benparkes | 0:e79700919e2e | 92 | |
benparkes | 0:e79700919e2e | 93 | |
benparkes | 0:e79700919e2e | 94 | //wait for run to complete |
benparkes | 0:e79700919e2e | 95 | while (((distanceA+distanceB)/2) < distance) { |
benparkes | 0:e79700919e2e | 96 | |
benparkes | 0:e79700919e2e | 97 | if (speedA<speed){ |
benparkes | 0:e79700919e2e | 98 | |
benparkes | 0:e79700919e2e | 99 | dutyA += (float)0.0051; |
benparkes | 0:e79700919e2e | 100 | PWMA.write(dutyA); |
benparkes | 0:e79700919e2e | 101 | } |
benparkes | 0:e79700919e2e | 102 | if( speedA>speed){ |
benparkes | 0:e79700919e2e | 103 | dutyA -= (float)0.0051; |
benparkes | 0:e79700919e2e | 104 | PWMA.write(dutyA); |
benparkes | 0:e79700919e2e | 105 | } |
benparkes | 0:e79700919e2e | 106 | |
benparkes | 0:e79700919e2e | 107 | if (speedB<speed){ |
benparkes | 0:e79700919e2e | 108 | |
benparkes | 0:e79700919e2e | 109 | dutyB += (float)0.0051; |
benparkes | 0:e79700919e2e | 110 | PWMB.write(dutyB); |
benparkes | 0:e79700919e2e | 111 | } |
benparkes | 0:e79700919e2e | 112 | if( speedB>speed){ |
benparkes | 0:e79700919e2e | 113 | dutyB -= (float)0.0051; |
benparkes | 0:e79700919e2e | 114 | PWMB.write(dutyB); |
benparkes | 0:e79700919e2e | 115 | } |
benparkes | 0:e79700919e2e | 116 | |
benparkes | 0:e79700919e2e | 117 | } |
benparkes | 0:e79700919e2e | 118 | return 1; |
benparkes | 0:e79700919e2e | 119 | } |
benparkes | 0:e79700919e2e | 120 | |
benparkes | 0:e79700919e2e | 121 | int turn(float degrees, float duty, int direction) // (Degrees of Turn, Speed, (Anti/Clock)wise) |
benparkes | 0:e79700919e2e | 122 | |
benparkes | 0:e79700919e2e | 123 | { |
benparkes | 0:e79700919e2e | 124 | // Calculate Turn Distance |
benparkes | 0:e79700919e2e | 125 | float distance=0; |
benparkes | 0:e79700919e2e | 126 | distance=((float)degreel*degrees); |
benparkes | 0:e79700919e2e | 127 | //Set Initial Motor Direction |
benparkes | 0:e79700919e2e | 128 | DIRA = FORWARD; |
benparkes | 0:e79700919e2e | 129 | DIRB = FORWARD; |
benparkes | 0:e79700919e2e | 130 | |
benparkes | 0:e79700919e2e | 131 | // Test for Loop Completion to Enter Victory Spin |
benparkes | 0:e79700919e2e | 132 | if(direction==REVERSE) { |
benparkes | 0:e79700919e2e | 133 | DIRA = REVERSE; |
benparkes | 0:e79700919e2e | 134 | DIRB = REVERSE; |
benparkes | 0:e79700919e2e | 135 | } |
benparkes | 0:e79700919e2e | 136 | |
benparkes | 0:e79700919e2e | 137 | // Set Motor Speed for Outside Wheel |
benparkes | 0:e79700919e2e | 138 | PWMA.write(duty); //Set duty cycle (%) |
benparkes | 0:e79700919e2e | 139 | PWMB.write(0.0f); //Set duty cycle (%) |
benparkes | 0:e79700919e2e | 140 | |
benparkes | 0:e79700919e2e | 141 | // Reset Distance Travelled |
benparkes | 0:e79700919e2e | 142 | ResetDistanceTimeSpeed(); |
benparkes | 0:e79700919e2e | 143 | // Wait for Turn to Complete |
benparkes | 0:e79700919e2e | 144 | while (distanceA < distance) { |
benparkes | 0:e79700919e2e | 145 | } |
benparkes | 0:e79700919e2e | 146 | return 1; |
benparkes | 0:e79700919e2e | 147 | } |
benparkes | 0:e79700919e2e | 148 | |
benparkes | 0:e79700919e2e | 149 | void set_distanceA() { |
benparkes | 0:e79700919e2e | 150 | float time = 0; |
benparkes | 0:e79700919e2e | 151 | |
benparkes | 0:e79700919e2e | 152 | afttimerA = timer.read(); //set latest timer to equal timer |
benparkes | 0:e79700919e2e | 153 | distanceA += (wheelc/6); //set distance travelled for this instruction i.e forward/turn etc |
benparkes | 0:e79700919e2e | 154 | time = afttimerA - pretimerA; //work out time taken for last 6th of a rotation |
benparkes | 0:e79700919e2e | 155 | speedA = (time)/6; //distance/time = average speed for last 6th rotation |
benparkes | 0:e79700919e2e | 156 | pretimerA = afttimerA; //update pretimer for next calculation of time |
benparkes | 0:e79700919e2e | 157 | terminal.printf("speedA %f\n\r", speedA); |
benparkes | 0:e79700919e2e | 158 | } |
benparkes | 0:e79700919e2e | 159 | |
benparkes | 0:e79700919e2e | 160 | void set_distanceB() { |
benparkes | 0:e79700919e2e | 161 | float time = 0; |
benparkes | 0:e79700919e2e | 162 | |
benparkes | 0:e79700919e2e | 163 | afttimerB = timer.read(); |
benparkes | 0:e79700919e2e | 164 | distanceB += (wheelc/6); |
benparkes | 0:e79700919e2e | 165 | time = afttimerB - pretimerB; |
benparkes | 0:e79700919e2e | 166 | speedB = time/6; |
benparkes | 0:e79700919e2e | 167 | pretimerB = afttimerB; |
benparkes | 0:e79700919e2e | 168 | terminal.printf("speedB %f\n\r", speedB); |
benparkes | 0:e79700919e2e | 169 | } |
benparkes | 0:e79700919e2e | 170 | |
benparkes | 0:e79700919e2e | 171 | |
benparkes | 0:e79700919e2e | 172 | int main() { |
benparkes | 0:e79700919e2e | 173 | //Configure the terminal to high speed |
benparkes | 0:e79700919e2e | 174 | terminal.baud(115200); |
benparkes | 0:e79700919e2e | 175 | |
benparkes | 0:e79700919e2e | 176 | HEA1.rise(set_distanceA); |
benparkes | 0:e79700919e2e | 177 | HEB1.rise(set_distanceB); |
benparkes | 0:e79700919e2e | 178 | //Set initial motor speed to stop |
benparkes | 0:e79700919e2e | 179 | stopmotors(); |
benparkes | 0:e79700919e2e | 180 | PWMA.period_ms(10); |
benparkes | 0:e79700919e2e | 181 | PWMB.period_ms(10); |
benparkes | 0:e79700919e2e | 182 | while(1) { |
benparkes | 0:e79700919e2e | 183 | //wait for switch press |
benparkes | 0:e79700919e2e | 184 | while (SW1 == PRESSED) { |
benparkes | 0:e79700919e2e | 185 | wait(0.01); |
benparkes | 0:e79700919e2e | 186 | while(SW1 == RELEASED) { |
benparkes | 0:e79700919e2e | 187 | |
benparkes | 0:e79700919e2e | 188 | //navigate course |
benparkes | 0:e79700919e2e | 189 | for (int i = 0; i<2; i++) { |
benparkes | 0:e79700919e2e | 190 | forward(12,0.01); |
benparkes | 0:e79700919e2e | 191 | //terminal.printf("turn\n\r"); |
benparkes | 0:e79700919e2e | 192 | turn(100,1,0); |
benparkes | 0:e79700919e2e | 193 | //terminal.printf("forward\n\r"); |
benparkes | 0:e79700919e2e | 194 | forward(7,0.01); |
benparkes | 0:e79700919e2e | 195 | //terminal.printf("turn\n\r"); |
benparkes | 0:e79700919e2e | 196 | turn(100,1,0); |
benparkes | 0:e79700919e2e | 197 | } |
benparkes | 0:e79700919e2e | 198 | |
benparkes | 0:e79700919e2e | 199 | stopmotors(); |
benparkes | 0:e79700919e2e | 200 | |
benparkes | 0:e79700919e2e | 201 | wait(0.5); |
benparkes | 0:e79700919e2e | 202 | |
benparkes | 0:e79700919e2e | 203 | //victory spin |
benparkes | 0:e79700919e2e | 204 | turn(365,1,1); |
benparkes | 0:e79700919e2e | 205 | |
benparkes | 0:e79700919e2e | 206 | stopmotors(); |
benparkes | 0:e79700919e2e | 207 | break; |
benparkes | 0:e79700919e2e | 208 | } |
benparkes | 0:e79700919e2e | 209 | } |
benparkes | 0:e79700919e2e | 210 | } |
benparkes | 0:e79700919e2e | 211 | |
benparkes | 0:e79700919e2e | 212 | } |
benparkes | 0:e79700919e2e | 213 |