Revision 0:d33abe99b8aa, committed 2020-02-18
- Comitter:
- louis_mynott
- Date:
- Tue Feb 18 20:13:02 2020 +0000
- Commit message:
- re
Changed in this revision
diff -r 000000000000 -r d33abe99b8aa C12832.lib
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/C12832.lib Tue Feb 18 20:13:02 2020 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/askksa12543/code/C12832/#990d5eec2ef6
diff -r 000000000000 -r d33abe99b8aa QEI.lib
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/QEI.lib Tue Feb 18 20:13:02 2020 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/aberk/code/QEI/#5c2ad81551aa
diff -r 000000000000 -r d33abe99b8aa main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Tue Feb 18 20:13:02 2020 +0000
@@ -0,0 +1,131 @@
+#include "mbed.h"
+#include "QEI.h"
+#include "C12832.h"
+
+
+C12832 lcd(D11, D13, D12, D7, D10);
+
+class Motor {
+private:
+ PwmOut pwm;
+ DigitalOut direction, pole;
+ float pwmWidth, offset;
+ int high;
+public:
+ Motor(PinName pwmPin, PinName directionPin, PinName polePin, int ofst, int h): pwm(pwmPin), direction(directionPin), pole(polePin), offset(ofst), high(h){
+ pwm.period_us(5);
+ pwmWidth = 0.5+(offset/100.0);
+ pole = 0;
+ }
+ void PWM(double transC, double angC, int drctn){ // PWM(speed error, angle error, direction)
+
+ if (transC == 0 || angC == 0){
+ pwm.write(1-high);
+ }
+ else{
+ pwmWidth *= transC*angC;
+ if (pwmWidth >= 1){
+ pwmWidth = 1;
+ }
+ if (high == 1){
+ pwm.write(pwmWidth);
+ }
+ else{
+ pwm.write(1-pwmWidth);
+ }
+ direction = drctn;
+ }
+ }
+};
+
+class Encoder{
+private:
+ int pulses, currentSpeed, dispx, dispy;
+ Ticker tkr, disptkr;
+ QEI encoder;
+public:
+ Encoder(PinName CHA, PinName CHB, int x, int y):encoder(CHA, CHB, NC, 624), dispx(x), dispy(y){
+ tkr.attach(callback(this, &Encoder::findPulses), 0.01);
+ disptkr.attach(callback(this, &Encoder::display), 0.01);
+ }
+ void findPulses(){
+ pulses = encoder.getPulses();
+ encoder.reset(); //set back to 0 wait 0.1 seconds and take another reading
+ currentSpeed = pulses*2; //set this number to circumpherance of the wheel
+ tkr.attach(callback(this, &Encoder::findPulses), 0.1); //frequency of encoder readings. The longer it waits, the more accuate it is ut i nees to maintain a real time response
+ }
+ double findSpeed(){
+ return currentSpeed;
+ }
+ void display(){
+ lcd.locate(dispx ,dispy);
+ lcd.printf("%d ", currentSpeed);
+ disptkr.attach(callback(this, &Encoder::display), 0.1);
+ }
+};
+
+
+
+
+
+
+
+
+//define pins
+Encoder lEncoder(PB_13, PB_14, 10, 10); //chA, chB
+Encoder rEncoder(PB_15, PB_1, 60, 10);
+Motor rMotor(PA_15, PC_13, PC_14, 0, 1); //pwm, direction, pole, ofset, logic sensitivity
+Motor lMotor(PB_7, PC_15, PH_0, 5, 0); //#######################################
+DigitalOut enable(PA_14);
+
+//define global variables
+
+
+
+
+
+
+
+
+int main() {
+
+ double driveTime, turnTime;
+ driveTime = 1; //#######################################
+ turnTime = 0.8; //#######################################
+ enable = 1;
+
+ for(int i = 0; i < 3; i++){
+ lMotor.PWM(1, 1, 1);
+ rMotor.PWM(1, 1, 1);
+ wait(driveTime);
+
+ lMotor.PWM(1, 1, 1);
+ rMotor.PWM(1, 0, 1);
+ wait(turnTime);
+ }
+
+ lMotor.PWM(1, 1, 1);
+ rMotor.PWM(1, 1, 1);
+ wait(driveTime);
+
+ lMotor.PWM(1, 1, 1);
+ rMotor.PWM(1, 0, 1);
+ wait(2*turnTime);
+
+ for(int i = 0; i < 3; i++){
+ lMotor.PWM(1, 1, 1);
+ rMotor.PWM(1, 1, 1);
+ wait(driveTime);
+
+ lMotor.PWM(1, 0, 1);
+ rMotor.PWM(1, 1, 1);
+ wait(turnTime);
+ }
+
+ lMotor.PWM(1, 1, 1);
+ rMotor.PWM(1, 1, 1);
+ wait(driveTime);
+
+ lMotor.PWM(0, 1, 1);
+ rMotor.PWM(0, 1, 1);
+}
\ No newline at end of file
diff -r 000000000000 -r d33abe99b8aa mbed.bld
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld Tue Feb 18 20:13:02 2020 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400
\ No newline at end of file