ELCT 302
/
drivelab3
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Dependencies: mbed
main.cpp@1:128dc77d025a, 2021-02-01 (annotated)
- Committer:
- benjaminstone
- Date:
- Mon Feb 01 16:23:33 2021 +0000
- Revision:
- 1:128dc77d025a
- Parent:
- 0:bd04e6ac5a2c
- Child:
- 2:01372422b0c7
updated;
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| benjaminstone | 0:bd04e6ac5a2c | 1 | // open-loop control of the servo motor |
| benjaminstone | 0:bd04e6ac5a2c | 2 | // reads analog input and converts it to a pwm signal |
| benjaminstone | 0:bd04e6ac5a2c | 3 | |
| benjaminstone | 0:bd04e6ac5a2c | 4 | #include "mbed.h" |
| benjaminstone | 0:bd04e6ac5a2c | 5 | #include <iostream> |
| benjaminstone | 0:bd04e6ac5a2c | 6 | |
| benjaminstone | 0:bd04e6ac5a2c | 7 | AnalogIn input(PTB0); |
| benjaminstone | 0:bd04e6ac5a2c | 8 | PwmOut output(PTE21); |
| benjaminstone | 0:bd04e6ac5a2c | 9 | Ticker updater; |
| benjaminstone | 1:128dc77d025a | 10 | |
| benjaminstone | 1:128dc77d025a | 11 | float v = 0.0; |
| benjaminstone | 1:128dc77d025a | 12 | float d = 0.0; |
| benjaminstone | 0:bd04e6ac5a2c | 13 | |
| benjaminstone | 0:bd04e6ac5a2c | 14 | void pwmUpdate() |
| benjaminstone | 0:bd04e6ac5a2c | 15 | { |
| benjaminstone | 0:bd04e6ac5a2c | 16 | v = input.read(); |
| benjaminstone | 1:128dc77d025a | 17 | d = v; // sets DC to voltage |
| benjaminstone | 0:bd04e6ac5a2c | 18 | if( abs(d - output.read()) > 0.001) //only updates the duty cycle if there is a change in the duty cycle greater than 0.3% |
| benjaminstone | 0:bd04e6ac5a2c | 19 | output.write(d); |
| benjaminstone | 0:bd04e6ac5a2c | 20 | } |
| benjaminstone | 0:bd04e6ac5a2c | 21 | |
| benjaminstone | 0:bd04e6ac5a2c | 22 | int main(void) |
| benjaminstone | 0:bd04e6ac5a2c | 23 | { |
| benjaminstone | 0:bd04e6ac5a2c | 24 | output.period(0.00005f); // 20 kHz control signal |
| benjaminstone | 0:bd04e6ac5a2c | 25 | // attaches pwmUpdate function to the ticker with a period of 20ms |
| benjaminstone | 1:128dc77d025a | 26 | updater.attach(&pwmUpdate,0.00005f); |
| benjaminstone | 0:bd04e6ac5a2c | 27 | std::cout << "AnalogIn: " << v << " Duty Cycle: " << d << std::endl; |
| benjaminstone | 0:bd04e6ac5a2c | 28 | while(1) {} // do nothing |
| benjaminstone | 0:bd04e6ac5a2c | 29 | } |