![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
Version 1
main.cpp@7:04dff5b8490c, 2017-03-16 (annotated)
- Committer:
- po514
- Date:
- Thu Mar 16 13:57:47 2017 +0000
- Revision:
- 7:04dff5b8490c
- Parent:
- 6:d881a556eb9a
constants updated
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Iswanto | 0:bb40c446eb83 | 1 | #include "mbed.h" |
Iswanto | 0:bb40c446eb83 | 2 | |
Iswanto | 0:bb40c446eb83 | 3 | //Photointerrupter input pins |
Iswanto | 0:bb40c446eb83 | 4 | #define I1pin D2 |
Iswanto | 0:bb40c446eb83 | 5 | #define I2pin D11 |
Iswanto | 0:bb40c446eb83 | 6 | #define I3pin D12 |
Iswanto | 0:bb40c446eb83 | 7 | |
Iswanto | 0:bb40c446eb83 | 8 | //Incremental encoder input pins |
Iswanto | 0:bb40c446eb83 | 9 | #define CHA D7 |
Iswanto | 0:bb40c446eb83 | 10 | #define CHB D8 |
Iswanto | 0:bb40c446eb83 | 11 | |
Iswanto | 0:bb40c446eb83 | 12 | //Motor Drive output pins //Mask in output byte |
Iswanto | 0:bb40c446eb83 | 13 | #define L1Lpin D4 //0x01 |
Iswanto | 0:bb40c446eb83 | 14 | #define L1Hpin D5 //0x02 |
Iswanto | 0:bb40c446eb83 | 15 | #define L2Lpin D3 //0x04 |
Iswanto | 0:bb40c446eb83 | 16 | #define L2Hpin D6 //0x08 |
Iswanto | 0:bb40c446eb83 | 17 | #define L3Lpin D9 //0x10 |
Iswanto | 0:bb40c446eb83 | 18 | #define L3Hpin D10 //0x20 |
Iswanto | 0:bb40c446eb83 | 19 | |
Iswanto | 0:bb40c446eb83 | 20 | //Mapping from sequential drive states to motor phase outputs |
Iswanto | 0:bb40c446eb83 | 21 | /* |
Iswanto | 0:bb40c446eb83 | 22 | State L1 L2 L3 |
Iswanto | 0:bb40c446eb83 | 23 | 0 H - L |
Iswanto | 0:bb40c446eb83 | 24 | 1 - H L |
Iswanto | 0:bb40c446eb83 | 25 | 2 L H - |
Iswanto | 0:bb40c446eb83 | 26 | 3 L - H |
Iswanto | 0:bb40c446eb83 | 27 | 4 - L H |
Iswanto | 0:bb40c446eb83 | 28 | 5 H L - |
Iswanto | 0:bb40c446eb83 | 29 | 6 - - - |
Iswanto | 0:bb40c446eb83 | 30 | 7 - - - |
Iswanto | 0:bb40c446eb83 | 31 | */ |
Iswanto | 0:bb40c446eb83 | 32 | //Drive state to output table |
Iswanto | 0:bb40c446eb83 | 33 | const int8_t driveTable[] = {0x12,0x18,0x09,0x21,0x24,0x06,0x00,0x00}; |
Iswanto | 0:bb40c446eb83 | 34 | |
Iswanto | 0:bb40c446eb83 | 35 | //Mapping from interrupter inputs to sequential rotor states. 0x00 and 0x07 are not valid |
Iswanto | 0:bb40c446eb83 | 36 | const int8_t stateMap[] = {0x07,0x05,0x03,0x04,0x01,0x00,0x02,0x07}; |
Iswanto | 0:bb40c446eb83 | 37 | //const int8_t stateMap[] = {0x07,0x01,0x03,0x02,0x05,0x00,0x04,0x07}; //Alternative if phase order of input or drive is reversed |
Iswanto | 0:bb40c446eb83 | 38 | |
Iswanto | 0:bb40c446eb83 | 39 | //Phase lead to make motor spin |
Iswanto | 0:bb40c446eb83 | 40 | const int8_t lead = 2; //2 for forwards, -2 for backwards |
Iswanto | 0:bb40c446eb83 | 41 | |
Iswanto | 0:bb40c446eb83 | 42 | volatile float revTime; |
po514 | 7:04dff5b8490c | 43 | volatile float revPerSec; |
po514 | 7:04dff5b8490c | 44 | volatile float errorPrev = 0; |
po514 | 3:69c670ed6382 | 45 | volatile float dutyCycle; |
po514 | 4:bdd445879de2 | 46 | volatile float targetSpeed; |
po514 | 7:04dff5b8490c | 47 | volatile float acc; |
Iswanto | 0:bb40c446eb83 | 48 | |
po514 | 5:8269e635183f | 49 | volatile float timeMap[] = {0.0 , 0.0 , 0.0 , 0.0 , 0.0 , 0.0 }; |
po514 | 5:8269e635183f | 50 | |
Iswanto | 0:bb40c446eb83 | 51 | //Status LED |
Iswanto | 0:bb40c446eb83 | 52 | DigitalOut led1(LED1); |
Iswanto | 0:bb40c446eb83 | 53 | DigitalOut led2 (LED2); |
Iswanto | 0:bb40c446eb83 | 54 | DigitalOut led3 (LED3); |
Iswanto | 0:bb40c446eb83 | 55 | |
Iswanto | 0:bb40c446eb83 | 56 | //Photointerrupter inputs |
Iswanto | 0:bb40c446eb83 | 57 | InterruptIn I1intr(I1pin); |
po514 | 5:8269e635183f | 58 | InterruptIn I2intr(I2pin); |
po514 | 5:8269e635183f | 59 | InterruptIn I3intr(I3pin); |
po514 | 5:8269e635183f | 60 | |
Iswanto | 0:bb40c446eb83 | 61 | DigitalIn I1(I1pin); |
Iswanto | 0:bb40c446eb83 | 62 | DigitalIn I2(I2pin); |
Iswanto | 0:bb40c446eb83 | 63 | DigitalIn I3(I3pin); |
Iswanto | 0:bb40c446eb83 | 64 | |
Iswanto | 0:bb40c446eb83 | 65 | Ticker tick; |
Iswanto | 0:bb40c446eb83 | 66 | Thread th1; |
po514 | 4:bdd445879de2 | 67 | Thread controlLoopThread; |
Iswanto | 0:bb40c446eb83 | 68 | Timer t; |
Iswanto | 0:bb40c446eb83 | 69 | |
Iswanto | 0:bb40c446eb83 | 70 | Serial pc(SERIAL_TX,SERIAL_RX); |
Iswanto | 0:bb40c446eb83 | 71 | //Motor Drive outputs |
Iswanto | 0:bb40c446eb83 | 72 | PwmOut L1L(L1Lpin); |
Iswanto | 0:bb40c446eb83 | 73 | PwmOut L1H(L1Hpin); |
Iswanto | 0:bb40c446eb83 | 74 | PwmOut L2L(L2Lpin); |
Iswanto | 0:bb40c446eb83 | 75 | PwmOut L2H(L2Hpin); |
Iswanto | 0:bb40c446eb83 | 76 | PwmOut L3L(L3Lpin); |
Iswanto | 0:bb40c446eb83 | 77 | PwmOut L3H(L3Hpin); |
Iswanto | 0:bb40c446eb83 | 78 | |
Iswanto | 0:bb40c446eb83 | 79 | //Set a given drive state |
Iswanto | 0:bb40c446eb83 | 80 | |
Iswanto | 0:bb40c446eb83 | 81 | void blinkLED2(){ |
Iswanto | 0:bb40c446eb83 | 82 | while(1){ |
Iswanto | 0:bb40c446eb83 | 83 | led1 = 0; |
Iswanto | 0:bb40c446eb83 | 84 | wait(0.5); |
Iswanto | 0:bb40c446eb83 | 85 | led1 = 1; |
Iswanto | 0:bb40c446eb83 | 86 | wait(0.5); |
Iswanto | 0:bb40c446eb83 | 87 | } |
Iswanto | 0:bb40c446eb83 | 88 | } |
Iswanto | 0:bb40c446eb83 | 89 | |
Iswanto | 0:bb40c446eb83 | 90 | void blinkLED3(){ |
Iswanto | 0:bb40c446eb83 | 91 | while(1){ |
Iswanto | 0:bb40c446eb83 | 92 | led3 = 0; |
Iswanto | 0:bb40c446eb83 | 93 | wait(0.1); |
Iswanto | 0:bb40c446eb83 | 94 | led3 = 1; |
Iswanto | 0:bb40c446eb83 | 95 | wait(0.1); |
Iswanto | 0:bb40c446eb83 | 96 | } |
Iswanto | 0:bb40c446eb83 | 97 | } |
Iswanto | 0:bb40c446eb83 | 98 | |
po514 | 4:bdd445879de2 | 99 | void mesRot(){ |
Iswanto | 0:bb40c446eb83 | 100 | led3 = !led3; |
Iswanto | 0:bb40c446eb83 | 101 | float speedTime; |
Iswanto | 0:bb40c446eb83 | 102 | speedTime = t.read(); |
po514 | 7:04dff5b8490c | 103 | revPerSec = 1.0/(speedTime - timeMap[I1 + 2*I2 + 4*I3]); |
po514 | 5:8269e635183f | 104 | timeMap[I1 + 2*I2 + 4*I3] = speedTime; |
Iswanto | 0:bb40c446eb83 | 105 | } |
Iswanto | 0:bb40c446eb83 | 106 | |
po514 | 4:bdd445879de2 | 107 | void controlLoop(void){ |
po514 | 4:bdd445879de2 | 108 | while(true){ |
po514 | 7:04dff5b8490c | 109 | float error = targetSpeed - revPerSec; |
po514 | 7:04dff5b8490c | 110 | float errorDer = (error - errorPrev)*20; |
po514 | 7:04dff5b8490c | 111 | float k = 2.0; |
po514 | 7:04dff5b8490c | 112 | float kd = 1; |
po514 | 7:04dff5b8490c | 113 | dutyCycle = k*error + kd*errorDer; |
po514 | 7:04dff5b8490c | 114 | |
po514 | 7:04dff5b8490c | 115 | errorPrev = error; //remeber error |
po514 | 6:d881a556eb9a | 116 | wait(0.05); |
po514 | 4:bdd445879de2 | 117 | } |
po514 | 4:bdd445879de2 | 118 | } |
po514 | 4:bdd445879de2 | 119 | |
Iswanto | 0:bb40c446eb83 | 120 | void decrease(){ |
po514 | 3:69c670ed6382 | 121 | dutyCycle -= 0.05; |
po514 | 3:69c670ed6382 | 122 | pc.printf("current value: %f", dutyCycle); |
po514 | 3:69c670ed6382 | 123 | if (dutyCycle < 0.2){ |
po514 | 3:69c670ed6382 | 124 | dutyCycle = 1; |
Iswanto | 0:bb40c446eb83 | 125 | } |
Iswanto | 0:bb40c446eb83 | 126 | } |
Iswanto | 0:bb40c446eb83 | 127 | |
Iswanto | 0:bb40c446eb83 | 128 | |
Iswanto | 0:bb40c446eb83 | 129 | void motorOut(int8_t driveState, float dutyCycle){ |
Iswanto | 0:bb40c446eb83 | 130 | //float dutyCycle = 1.0f; |
Iswanto | 0:bb40c446eb83 | 131 | //Lookup the output byte from the drive state. |
Iswanto | 0:bb40c446eb83 | 132 | int8_t driveOut = driveTable[driveState & 0x07]; |
Iswanto | 0:bb40c446eb83 | 133 | |
Iswanto | 0:bb40c446eb83 | 134 | //Turn off first |
Iswanto | 0:bb40c446eb83 | 135 | if (~driveOut & 0x01) L1L.write(0); // = 0 |
Iswanto | 0:bb40c446eb83 | 136 | if (~driveOut & 0x02) L1H.write(dutyCycle);// = 1; |
Iswanto | 0:bb40c446eb83 | 137 | if (~driveOut & 0x04) L2L.write(0); // = 0; |
Iswanto | 0:bb40c446eb83 | 138 | if (~driveOut & 0x08) L2H.write(dutyCycle);// = 1; |
Iswanto | 0:bb40c446eb83 | 139 | if (~driveOut & 0x10) L3L.write(0);// = 0; |
Iswanto | 0:bb40c446eb83 | 140 | if (~driveOut & 0x20) L3H.write(dutyCycle);// = 1; |
Iswanto | 0:bb40c446eb83 | 141 | |
Iswanto | 0:bb40c446eb83 | 142 | //Then turn on |
Iswanto | 0:bb40c446eb83 | 143 | if (driveOut & 0x01) L1L.write(dutyCycle);// = 1; |
Iswanto | 0:bb40c446eb83 | 144 | if (driveOut & 0x02) L1H.write(0); // = 0; |
Iswanto | 0:bb40c446eb83 | 145 | if (driveOut & 0x04) L2L.write(dutyCycle);// = 1; |
Iswanto | 0:bb40c446eb83 | 146 | if (driveOut & 0x08) L2H.write(0);// = 0; |
Iswanto | 0:bb40c446eb83 | 147 | if (driveOut & 0x10) L3L.write(dutyCycle);// = 1; |
Iswanto | 0:bb40c446eb83 | 148 | if (driveOut & 0x20) L3H.write(0);// = 0; |
Iswanto | 0:bb40c446eb83 | 149 | } |
Iswanto | 0:bb40c446eb83 | 150 | |
Iswanto | 0:bb40c446eb83 | 151 | //Convert photointerrupter inputs to a rotor state |
Iswanto | 0:bb40c446eb83 | 152 | inline int8_t readRotorState(){ |
Iswanto | 0:bb40c446eb83 | 153 | return stateMap[I1 + 2*I2 + 4*I3]; |
Iswanto | 0:bb40c446eb83 | 154 | } |
Iswanto | 0:bb40c446eb83 | 155 | |
Iswanto | 0:bb40c446eb83 | 156 | //Basic synchronisation routine |
Iswanto | 0:bb40c446eb83 | 157 | int8_t motorHome() { |
Iswanto | 0:bb40c446eb83 | 158 | //Put the motor in drive state 0 and wait for it to stabilise |
Iswanto | 0:bb40c446eb83 | 159 | motorOut(0, 1); |
Iswanto | 0:bb40c446eb83 | 160 | wait(1.0); |
Iswanto | 0:bb40c446eb83 | 161 | |
Iswanto | 0:bb40c446eb83 | 162 | //Get the rotor state |
Iswanto | 0:bb40c446eb83 | 163 | return readRotorState(); |
Iswanto | 0:bb40c446eb83 | 164 | } |
Iswanto | 0:bb40c446eb83 | 165 | |
Iswanto | 0:bb40c446eb83 | 166 | //Main |
Iswanto | 0:bb40c446eb83 | 167 | int main() { |
Iswanto | 0:bb40c446eb83 | 168 | int8_t orState = 0; //Rotot offset at motor state 0 |
Iswanto | 0:bb40c446eb83 | 169 | |
Iswanto | 0:bb40c446eb83 | 170 | //Initialise the serial port |
Iswanto | 0:bb40c446eb83 | 171 | Serial pc(SERIAL_TX, SERIAL_RX); |
Iswanto | 0:bb40c446eb83 | 172 | int8_t intState = 0; |
Iswanto | 0:bb40c446eb83 | 173 | int8_t intStateOld = 0; |
po514 | 7:04dff5b8490c | 174 | float per = 0.01f; |
po514 | 5:8269e635183f | 175 | targetSpeed = 3.0; |
Iswanto | 0:bb40c446eb83 | 176 | |
Iswanto | 0:bb40c446eb83 | 177 | L1L.period(per); |
Iswanto | 0:bb40c446eb83 | 178 | L1H.period(per); |
Iswanto | 0:bb40c446eb83 | 179 | L2L.period(per); |
Iswanto | 0:bb40c446eb83 | 180 | L2H.period(per); |
Iswanto | 0:bb40c446eb83 | 181 | L3L.period(per); |
Iswanto | 0:bb40c446eb83 | 182 | L3H.period(per); |
po514 | 3:69c670ed6382 | 183 | dutyCycle = 1; |
Iswanto | 0:bb40c446eb83 | 184 | pc.printf("Device on \n\r"); |
Iswanto | 0:bb40c446eb83 | 185 | |
Iswanto | 0:bb40c446eb83 | 186 | //Run the motor synchronisation |
Iswanto | 0:bb40c446eb83 | 187 | orState = motorHome(); |
Iswanto | 0:bb40c446eb83 | 188 | //orState is subtracted from future rotor state inputs to align rotor and motor states |
Iswanto | 0:bb40c446eb83 | 189 | //th2.set_priority(osPriorityRealtime); |
Iswanto | 0:bb40c446eb83 | 190 | //th1.start(blinkLED2); |
Iswanto | 0:bb40c446eb83 | 191 | //th2.start(blinkLED3); |
po514 | 5:8269e635183f | 192 | |
po514 | 5:8269e635183f | 193 | //define interrupts |
po514 | 4:bdd445879de2 | 194 | I1intr.rise(&mesRot); //start photoInterrupt |
po514 | 5:8269e635183f | 195 | I2intr.rise(&mesRot); |
po514 | 5:8269e635183f | 196 | I3intr.rise(&mesRot); |
po514 | 5:8269e635183f | 197 | I1intr.fall(&mesRot); |
po514 | 5:8269e635183f | 198 | I2intr.fall(&mesRot); |
po514 | 5:8269e635183f | 199 | I3intr.fall(&mesRot); |
po514 | 5:8269e635183f | 200 | |
po514 | 4:bdd445879de2 | 201 | controlLoopThread.start(controlLoop); //start conrol unit thread |
Iswanto | 0:bb40c446eb83 | 202 | t.start(); |
Iswanto | 0:bb40c446eb83 | 203 | //tick.attach(&decrease, 10); |
Iswanto | 0:bb40c446eb83 | 204 | //Poll the rotor state and set the motor outputs accordingly to spin the motor |
Iswanto | 0:bb40c446eb83 | 205 | while (1) { |
Iswanto | 0:bb40c446eb83 | 206 | intState = readRotorState(); |
Iswanto | 0:bb40c446eb83 | 207 | if (pc.readable()){ |
Iswanto | 0:bb40c446eb83 | 208 | char buffer[128]; |
Iswanto | 0:bb40c446eb83 | 209 | |
Iswanto | 0:bb40c446eb83 | 210 | pc.gets(buffer, 6); |
po514 | 5:8269e635183f | 211 | targetSpeed = atof(buffer); |
po514 | 5:8269e635183f | 212 | pc.printf("I got '%s'\n\r", buffer); |
po514 | 5:8269e635183f | 213 | pc.printf("Also in float '%f'\n\r", targetSpeed); |
po514 | 5:8269e635183f | 214 | orState = motorHome(); |
Iswanto | 0:bb40c446eb83 | 215 | } |
Iswanto | 0:bb40c446eb83 | 216 | |
Iswanto | 0:bb40c446eb83 | 217 | if (intState != intStateOld) { |
Iswanto | 0:bb40c446eb83 | 218 | intStateOld = intState; |
po514 | 3:69c670ed6382 | 219 | motorOut((intState-orState+lead+6)%6, dutyCycle); //+6 to make sure the remainder is positive |
Iswanto | 0:bb40c446eb83 | 220 | } |
Iswanto | 0:bb40c446eb83 | 221 | } |
Iswanto | 0:bb40c446eb83 | 222 | } |
Iswanto | 0:bb40c446eb83 | 223 | |
Iswanto | 0:bb40c446eb83 | 224 | |
Iswanto | 1:05d69ef9c7e4 | 225 | // hi |