Revision 0:9bd4730782f9, committed 2018-02-17

Comitter:

PaoloGiovanni99

Date:

Sat Feb 17 11:05:43 2018 +0000

Child:

1:0226a8d3c0d3

Commit message:

seguilinea funzionante Marcianise

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/HCSR04.lib	Sat Feb 17 11:05:43 2018 +0000
@@ -0,0 +1,1 @@
+http://developer.mbed.org/users/prabhuvd/code/HCSR04/#71da0dbf4400

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/PLT_DCmotorShield_IHM12A1/MotorShieldIHM12A1.cpp	Sat Feb 17 11:05:43 2018 +0000
@@ -0,0 +1,144 @@
+#include "MotorShieldIHM12A1.h"
+#include "mbed.h"
+ 
+ 
+/* Variables -----------------------------------------------------------------*/
+ 
+/* Initialization parameters of the motor connected to the expansion board. */
+ Stspin240_250_Init_t initDeviceParameters = {
+  20000, /* Frequency of PWM of Input Bridge A in Hz up to 100000Hz             */
+  20000, /* Frequency of PWM of Input Bridge B in Hz up to 100000Hz             */
+  20000, /* Frequency of PWM used for Ref pin in Hz up to 100000Hz              */
+  50,    /* Duty cycle of PWM used for Ref pin (from 0 to 100)                  */
+  TRUE   /* Dual Bridge configuration  (FALSE for mono, TRUE for dual brush dc) */
+ };
+ 
+/* Motor Control Component. */
+STSPIN240_250 *motor;
+ 
+/* Functions -----------------------------------------------------------------*/
+void myErrorHandler(uint16_t error)
+{
+  /* Printing to the console. */
+  printf("Error %d detected\r\n\n", error);
+  
+  /* Infinite loop */
+  while(1)
+  {
+  }    
+}
+ 
+void myFlagIRQHandler(void)
+{
+ 
+  printf("    WARNING: \"FLAG\" interrupt triggered.\r\n");
+ 
+  /* Get the state of bridge A */
+  uint16_t bridgeState  = motor->GetBridgeStatus(0);
+  
+  if (bridgeState == 0) 
+  {
+    if (motor->GetDeviceState(0) != INACTIVE)
+    {
+      /* Bridges were disabled due to overcurrent or over temperature */
+      /* When  motor was running */
+        myErrorHandler(0XBAD0);
+    }
+  }
+}
+ 
+MotorShieldIHM12A1::MotorShieldIHM12A1()
+{
+    
+//----- Initialization 
+  
+  /* Initializing Motor Control Component. */
+  #if (defined TARGET_NUCLEO_F030R8)||(defined TARGET_NUCLEO_F334R8)
+  motor = new STSPIN240_250(D2, D9, D6, D7, D5, D4, A2);
+  #elif (defined TARGET_NUCLEO_L152RE)
+  motor = new STSPIN240_250(D2, D9, D6, D7, D5, D4, A3);
+  #else
+  motor = new STSPIN240_250(D2, D9, D6, D7, D5, D4, A0);
+  #endif
+  if (motor->Init(&initDeviceParameters) != COMPONENT_OK) exit(EXIT_FAILURE);
+ 
+  /* Set dual bridge enabled as two motors are used*/
+  motor->SetDualFullBridgeConfig(1);
+ 
+  /* Attaching and enabling an interrupt handler. */
+  motor->AttachFlagIRQ(&myFlagIRQHandler);
+  motor->EnableFlagIRQ();
+    
+  /* Attaching an error handler */
+  motor->AttachErrorHandler(&myErrorHandler);
+ 
+  /* Set PWM Frequency of Ref to 15000 Hz */ 
+  motor->SetRefPwmFreq(0, 15000); 
+ 
+  /* Set PWM duty cycle of Ref to 60% */ 
+  motor->SetRefPwmDc(0, 60); 
+  
+  /* Set PWM Frequency of bridge A inputs to 10000 Hz */ 
+  motor->SetBridgeInputPwmFreq(0,10000); 
+  
+  /* Set PWM Frequency of bridge B inputs to 10000 Hz  */ 
+  motor->SetBridgeInputPwmFreq(1,10000); 
+  
+}
+ 
+void MotorShieldIHM12A1::motorSpeed(unsigned int ID, int8_t speed)
+{ 
+    if  (speed > 100)   speed = 100;
+    else if (speed < -100)  speed = -100;
+      
+    if (speed>0)
+    {
+        motor->SetSpeed(ID,speed); 
+        motor->Run(ID, BDCMotor::FWD);
+    }
+    else if (speed<0)
+    {
+        motor->SetSpeed(ID,-speed); 
+        motor->Run(ID, BDCMotor::BWD);
+    }
+    else
+    {
+        motor->HardStop(ID);
+    } 
+}
+ 
+void MotorShieldIHM12A1::motorStop(unsigned int ID)
+{
+    motor->HardHiZ(ID);       
+}
+ 
+void MotorShieldIHM12A1::motorReset()
+{
+    motor->Reset();
+}
+ 
+void MotorShieldIHM12A1::turn(int8_t direction, int8_t speed)
+{
+    bool left = false;
+    float speedMod;
+    
+    if (direction < 0)
+    {
+        left = true;
+        direction = -direction;
+    }
+ 
+    speedMod = ((float)speed/100)*(direction-50)*(-2);
+    
+    if (left)
+    {
+        
+        motorSpeed(1,speedMod);
+        motorSpeed(0,speed);
+    }
+    else
+    {
+        motorSpeed(0,speedMod);
+        motorSpeed(1,speed);
+    }
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/PLT_DCmotorShield_IHM12A1/MotorShieldIHM12A1.h	Sat Feb 17 11:05:43 2018 +0000
@@ -0,0 +1,28 @@
+/****************************************************
+*            FAST PROTOTYPING WITH NUCLEO           *
+* Author: Francesco Caiazzo                         *
+* Organization: Perlatecnica no-profit organization *  
+*****************************************************/
+ 
+ 
+#ifndef MOTOR_SHIELDIHM12A1_H
+#define MOTOR_SHIELDIHM12A1_H
+ 
+#include "stspin240_250_class.h"
+ 
+class MotorShieldIHM12A1 {
+ 
+public: 
+ 
+// Crea un'istanza di MotorShield
+    MotorShieldIHM12A1(); 
+    void motorSpeed(unsigned int ID, int8_t speed);
+    void motorStop(unsigned int ID);
+    void motorReset(void);
+    void turn(int8_t direction, int8_t speed);
+ 
+private: 
+    Stspin240_250_Init_t initDeviceParameters;
+    STSPIN240_250 *motor;    
+};
+#endif
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/X-NUCLEO-IHM12A1.lib	Sat Feb 17 11:05:43 2018 +0000
@@ -0,0 +1,1 @@
+https://developer.mbed.org/teams/ST/code/X_NUCLEO_IHM12A1/#232e0c730f59

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sat Feb 17 11:05:43 2018 +0000
@@ -0,0 +1,93 @@
+#include "mbed.h"
+#include "MotorShieldIHM12A1.h"
+#include "hcsr04.h"
+
+#define  SPEED 50
+float DIR; 
+float mediaB = 0;
+float mediaN = 0 ;
+float MediaT = 0;
+
+#define Kp 50
+#define offset 0
+#define C 5
+
+HCSR04 sensor(D10, D11);
+// Serial
+Serial pc(USBTX, USBRX);
+//PwmOut mypwm(A0);
+ 
+MotorShieldIHM12A1 ms;
+AnalogIn lineaD(A5);
+DigitalIn pulsante(PC_13);
+
+int main()
+{
+    pc.baud(9600);
+    pc.printf("Here I am!\r\n");
+    //ms.MotorStart();
+    printf("start \r\n");
+    // Main loop
+    printf ("Val \r\n ");
+    
+    
+    
+    
+    
+    while (pulsante) 
+    {
+        wait (0.1);
+    }
+    wait(0.1);
+    
+    for (int i=0; i<5; i++)
+    {
+        mediaB += lineaD.read();
+        wait(0.1);
+    }
+    
+    mediaB /= C;
+    printf ("%f \n\r", mediaB);
+    printf("Bianco \r\n");
+    
+    while (pulsante) 
+    {
+        wait (0.1);
+    }
+    wait(0.1);
+    
+    for (int i=0; i<C; i++) 
+    {
+        mediaN += lineaD.read();
+        wait(0.1);
+    }
+    mediaN /= C;
+        printf ("%f \n\r", mediaB);
+    printf("Nero \r\n");
+    MediaT =(mediaB+mediaN) / 2;
+    
+    while (pulsante) {
+        wait (0.1);
+    }
+    wait(0.1);
+    while(true) 
+    {
+    // Avvia un impulso della durata di 10us sul pin di trigger
+    sensor.start();
+    
+    // Aspetta prima della prossima lettura
+    wait_ms(300); 
+    
+    // Stampa sulla seriale la misura della distanza in cm
+    pc.printf("%dcm\r\n", sensor.get_dist_cm());
+    
+     if (sensor.get_dist_cm() > 20) {
+    
+            ms.turn((lineaD.read()-MediaT)*Kp,40); 
+    } 
+    else {
+        ms.turn(0,0);
+        }
+             
+    }
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Sat Feb 17 11:05:43 2018 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/082adc85693f
\ No newline at end of file