ELCT 302
/
drivelab3
Important changes to repositories hosted on mbed.com
Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.
To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.
It is also possible to export all your personal repositories from the account settings page.
Dependencies: mbed
main.cpp@0:bd04e6ac5a2c, 2021-02-01 (annotated)
- Committer:
- benjaminstone
- Date:
- Mon Feb 01 16:01:48 2021 +0000
- Revision:
- 0:bd04e6ac5a2c
- Child:
- 1:128dc77d025a
code for drive team
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 | 0:bd04e6ac5a2c | 10 | |
| benjaminstone | 0:bd04e6ac5a2c | 11 | const double fullSpeed = .9; // duty cycle for full speed |
| benjaminstone | 0:bd04e6ac5a2c | 12 | const double slowSpeed = .4; // duty cycle for slow speed |
| benjaminstone | 0:bd04e6ac5a2c | 13 | float v = 0; |
| benjaminstone | 0:bd04e6ac5a2c | 14 | float d = fullSpeed; |
| benjaminstone | 0:bd04e6ac5a2c | 15 | |
| benjaminstone | 0:bd04e6ac5a2c | 16 | void pwmUpdate() |
| benjaminstone | 0:bd04e6ac5a2c | 17 | { |
| benjaminstone | 0:bd04e6ac5a2c | 18 | v = input.read(); |
| benjaminstone | 0:bd04e6ac5a2c | 19 | d = slowSpeed + v*(fullSpeed - slowSpeed);; // calculates duty cycle from input |
| benjaminstone | 0:bd04e6ac5a2c | 20 | 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 | 21 | output.write(d); |
| benjaminstone | 0:bd04e6ac5a2c | 22 | } |
| benjaminstone | 0:bd04e6ac5a2c | 23 | |
| benjaminstone | 0:bd04e6ac5a2c | 24 | int main(void) |
| benjaminstone | 0:bd04e6ac5a2c | 25 | { |
| benjaminstone | 0:bd04e6ac5a2c | 26 | output.period(0.00005f); // 20 kHz control signal |
| benjaminstone | 0:bd04e6ac5a2c | 27 | // attaches pwmUpdate function to the ticker with a period of 20ms |
| benjaminstone | 0:bd04e6ac5a2c | 28 | updater.attach(&pwmUpdate,0.02f); |
| benjaminstone | 0:bd04e6ac5a2c | 29 | std::cout << "AnalogIn: " << v << " Duty Cycle: " << d << std::endl; |
| benjaminstone | 0:bd04e6ac5a2c | 30 | while(1) {} // do nothing |
| benjaminstone | 0:bd04e6ac5a2c | 31 | } |