ENPRA_Foot / Mbed 2 deprecated Nucleo_Motor_5_1

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Dependencies:   mbed M3_CAN_mbed

main.cpp@0:4134d186d76d, 2018-12-13 (annotated)

Committer:
hiroshi1996
Date:
Thu Dec 13 13:38:35 2018 +0000
Revision:
0:4134d186d76d
Child:
1:fca866f76ca0
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
hiroshi1996 0:4134d186d76d 1 #include "mbed.h"
hiroshi1996 0:4134d186d76d 2 #include "Usart.h"
hiroshi1996 0:4134d186d76d 3
hiroshi1996 0:4134d186d76d 4 //PwmOut led(LED1);
hiroshi1996 0:4134d186d76d 5
hiroshi1996 0:4134d186d76d 6 Serial Nin(PC_10,PC_11);
hiroshi1996 0:4134d186d76d 7 Serial pc(SERIAL_TX, SERIAL_RX);
hiroshi1996 0:4134d186d76d 8
hiroshi1996 0:4134d186d76d 9 /*
hiroshi1996 0:4134d186d76d 10 AnalogIn f0(PA_0);
hiroshi1996 0:4134d186d76d 11 AnalogIn f1(PA_1);
hiroshi1996 0:4134d186d76d 12 AnalogIn f2(PA_4);
hiroshi1996 0:4134d186d76d 13 AnalogIn f3(PB_0);
hiroshi1996 0:4134d186d76d 14 AnalogIn f4(PC_1);
hiroshi1996 0:4134d186d76d 15 */
hiroshi1996 0:4134d186d76d 16
hiroshi1996 0:4134d186d76d 17 ///M3_USART m3(PA_9,PA_10,115200);
hiroshi1996 0:4134d186d76d 18 //Serial pc(USBTX,USBRX);
hiroshi1996 0:4134d186d76d 19 //DigitalOut myled(LED1);
hiroshi1996 0:4134d186d76d 20 ///DigitalIn myb(USER_BUTTON);
hiroshi1996 0:4134d186d76d 21
hiroshi1996 0:4134d186d76d 22 int main()
hiroshi1996 0:4134d186d76d 23 {
hiroshi1996 0:4134d186d76d 24 //float k=0.5;
hiroshi1996 0:4134d186d76d 25 //int32_t a=0;
hiroshi1996 0:4134d186d76d 26 //uint8_t error;
hiroshi1996 0:4134d186d76d 27 //Nex.baud(9600);
hiroshi1996 0:4134d186d76d 28 //Nex.format(8,Serial::None,2);
hiroshi1996 0:4134d186d76d 29 float force[5];
hiroshi1996 0:4134d186d76d 30 char tmp[5];
hiroshi1996 0:4134d186d76d 31 //led.period_ms(10);
hiroshi1996 0:4134d186d76d 32
hiroshi1996 0:4134d186d76d 33 //m3.write(RG_SOFT_SRV,RG_DEFAULT, 0);
hiroshi1996 0:4134d186d76d 34 //wait(1);
hiroshi1996 0:4134d186d76d 35 /// m3.write(RG_SOFT_SRV,RG_DEFAULT, 1);
hiroshi1996 0:4134d186d76d 36 /// m3.write(RG_PGAIN,RG_POSITION,2500);
hiroshi1996 0:4134d186d76d 37 /// m3.write(RG_IGAIN,RG_POSITION,0);
hiroshi1996 0:4134d186d76d 38 /// m3.write(RG_DGAIN,RG_POSITION,1000);
hiroshi1996 0:4134d186d76d 39
hiroshi1996 0:4134d186d76d 40
hiroshi1996 0:4134d186d76d 41 while(1){
hiroshi1996 0:4134d186d76d 42 for(int j = 0; j <= 4; j++){
hiroshi1996 0:4134d186d76d 43 for(int i = 0;i <= 4; i++){
hiroshi1996 0:4134d186d76d 44 tmp[i] = Nin.getc();
hiroshi1996 0:4134d186d76d 45 }
hiroshi1996 0:4134d186d76d 46 force[j] = atof(tmp);
hiroshi1996 0:4134d186d76d 47 }
hiroshi1996 0:4134d186d76d 48
hiroshi1996 0:4134d186d76d 49 //duty_m = f0;
hiroshi1996 0:4134d186d76d 50 //pc.printf("Duty_m:%.3f\r\n",duty_m);
hiroshi1996 0:4134d186d76d 51 //pc.printf("Duty:%.3f\r\n",duty);
hiroshi1996 0:4134d186d76d 52 //led.write(duty);
hiroshi1996 0:4134d186d76d 53
hiroshi1996 0:4134d186d76d 54 pc.printf("%.3f, %.3f, %.3f, %.3f, %.3f\r\n"
hiroshi1996 0:4134d186d76d 55 ,force[0],force[1],force[2],force[3],force[4]);
hiroshi1996 0:4134d186d76d 56
hiroshi1996 0:4134d186d76d 57 //diff = duty_m-duty;
hiroshi1996 0:4134d186d76d 58
hiroshi1996 0:4134d186d76d 59 /* a+=(int32_t)(30000*diff);
hiroshi1996 0:4134d186d76d 60
hiroshi1996 0:4134d186d76d 61
hiroshi1996 0:4134d186d76d 62 if(a>300000)a=300000;
hiroshi1996 0:4134d186d76d 63 else if(a<0)a=0;
hiroshi1996 0:4134d186d76d 64
hiroshi1996 0:4134d186d76d 65 m3.write(RG_REFERENCE,RG_POSITION,a*(-1));
hiroshi1996 0:4134d186d76d 66 pc.printf("Stroke:%ld mm\n\r",a*2/36000);*/
hiroshi1996 0:4134d186d76d 67
hiroshi1996 0:4134d186d76d 68
hiroshi1996 0:4134d186d76d 69 //wait(0.001);
hiroshi1996 0:4134d186d76d 70 }
hiroshi1996 0:4134d186d76d 71 }
hiroshi1996 0:4134d186d76d 72