Inverted Pendulum / Mbed 2 deprecated IP-Interface

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Dependencies:   mbed QEI

main.cpp@20:8063c82bbb35, 2016-11-16 (annotated)

Committer:
dlweakley
Date:
Wed Nov 16 08:28:46 2016 +0000
Revision:
20:8063c82bbb35
Parent:
19:0e9bf6d61d0d
Child:
21:eac29cf3f061
added velocities/ refined pot class

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Snay22 5:74fcd196ff96 1 #include "QEI.h"
dlweakley 6:8d2171811f14 2 #include "Motor.h"
dlweakley 8:2abfdbf5a3b8 3 #include "pot.h"
enderceylan 13:ab5a6ab6c492 4 #include <time.h>
Snay22 18:5a1c351094d2 5
dlweakley 4:41bbbaecd322 6
Snay22 5:74fcd196ff96 7 Serial pc(USBTX, USBRX);
Snay22 5:74fcd196ff96 8 //Use X4 encoding.
Snay22 5:74fcd196ff96 9 //QEI wheel(p29, p30, NC, 624, QEI::X4_ENCODING);
Snay22 5:74fcd196ff96 10 //Use X2 encoding by default.
dlweakley 8:2abfdbf5a3b8 11 QEI encoder (PTC16, PTC17, PTB9, 512);
dlweakley 11:ed9539245ea0 12 Motor motor(PTC4, PTD0, PTC3, PTC12, PTB23, 2000);
dlweakley 20:8063c82bbb35 13 Pot pend(PTC10, &encoder,0);
dlweakley 20:8063c82bbb35 14 Ticker update;
dlweakley 20:8063c82bbb35 15
dlweakley 8:2abfdbf5a3b8 16 void test_distance(){
dlweakley 8:2abfdbf5a3b8 17 int wait = 1000;
dlweakley 8:2abfdbf5a3b8 18 int steps = 100;
dlweakley 8:2abfdbf5a3b8 19 while (wait > 500){
dlweakley 8:2abfdbf5a3b8 20 while (steps > 10){
dlweakley 8:2abfdbf5a3b8 21 printf("steps: %i wait: %i \r\n", steps, wait);
dlweakley 8:2abfdbf5a3b8 22 for( int i = 0; i < 3; i++){
dlweakley 8:2abfdbf5a3b8 23 encoder.reset();
dlweakley 8:2abfdbf5a3b8 24 motor.step_clockwise(steps, wait);
dlweakley 8:2abfdbf5a3b8 25 int pulses_cw = encoder.getPulses();
dlweakley 8:2abfdbf5a3b8 26 wait_ms(200);
dlweakley 8:2abfdbf5a3b8 27 int coast_pulses_cw = encoder.getPulses();
dlweakley 8:2abfdbf5a3b8 28
dlweakley 8:2abfdbf5a3b8 29 encoder.reset();
dlweakley 8:2abfdbf5a3b8 30 motor.step_anticlockwise(steps, wait);
dlweakley 8:2abfdbf5a3b8 31 int pulses_ccw = encoder.getPulses();
dlweakley 8:2abfdbf5a3b8 32 wait_ms(200);
dlweakley 8:2abfdbf5a3b8 33 int coast_pulses_ccw = encoder.getPulses();
dlweakley 8:2abfdbf5a3b8 34 printf("trial: %i \tclockwise pluses: \t%i \tanticlockwise pluses: \t%i \r\n", i + 1, pulses_cw, pulses_ccw);
dlweakley 8:2abfdbf5a3b8 35 printf("\t\tpulses after coast: \t%i \tpulses after coast: \t%i\r\n", coast_pulses_cw, coast_pulses_ccw);
dlweakley 8:2abfdbf5a3b8 36 }
dlweakley 8:2abfdbf5a3b8 37 steps -=10;
dlweakley 8:2abfdbf5a3b8 38 printf("\r\n");
dlweakley 8:2abfdbf5a3b8 39 }
dlweakley 8:2abfdbf5a3b8 40
dlweakley 8:2abfdbf5a3b8 41 wait-=100;
dlweakley 8:2abfdbf5a3b8 42 steps=100;
dlweakley 8:2abfdbf5a3b8 43 }
dlweakley 8:2abfdbf5a3b8 44 }
dlweakley 6:8d2171811f14 45
enderceylan 13:ab5a6ab6c492 46 void test_speed() {
enderceylan 13:ab5a6ab6c492 47 time_t start;
enderceylan 13:ab5a6ab6c492 48 double elapsed_time = 0;
enderceylan 13:ab5a6ab6c492 49 int steps = 10;
enderceylan 13:ab5a6ab6c492 50 int wait = 1000;
enderceylan 13:ab5a6ab6c492 51 printf("steps: %i\r\n", steps);
enderceylan 13:ab5a6ab6c492 52 for( int i = 0; i < 3; i++){
enderceylan 13:ab5a6ab6c492 53 encoder.reset();
enderceylan 13:ab5a6ab6c492 54 start = time(0);
enderceylan 13:ab5a6ab6c492 55 motor.step_clockwise(steps, wait);
enderceylan 13:ab5a6ab6c492 56 elapsed_time = difftime( time(0), start);
enderceylan 13:ab5a6ab6c492 57 printf("Round %i clockwise, Total duration: \t%f seconds\r\n", i, elapsed_time);
enderceylan 13:ab5a6ab6c492 58 wait_ms(200);
enderceylan 13:ab5a6ab6c492 59
enderceylan 13:ab5a6ab6c492 60 encoder.reset();
enderceylan 13:ab5a6ab6c492 61 start = time(0);
enderceylan 13:ab5a6ab6c492 62 motor.step_anticlockwise(steps, wait);
enderceylan 13:ab5a6ab6c492 63 elapsed_time = difftime( time(0), start);
enderceylan 13:ab5a6ab6c492 64 printf("Round %i counter-clockwise, Total duration: \t%f seconds\r\n", i, elapsed_time);
enderceylan 13:ab5a6ab6c492 65 wait_ms(200);
enderceylan 13:ab5a6ab6c492 66 }
enderceylan 13:ab5a6ab6c492 67 }
enderceylan 13:ab5a6ab6c492 68
dlweakley 8:2abfdbf5a3b8 69
dlweakley 8:2abfdbf5a3b8 70 void test_pendulum(){
Snay22 5:74fcd196ff96 71 while(1){
dlweakley 8:2abfdbf5a3b8 72 printf("angle: %f \r\n", pend.get_angle());
Snay22 0:44fc57e03a56 73 }
dlweakley 8:2abfdbf5a3b8 74 }
dlweakley 11:ed9539245ea0 75 void calibrate_pendulum(){
dlweakley 11:ed9539245ea0 76 encoder.reset();
dlweakley 11:ed9539245ea0 77 while(1){
dlweakley 20:8063c82bbb35 78 printf("voltage %%: %f pulse: %i", pend.angle_as_voltage(), encoder.getPulses());
dlweakley 11:ed9539245ea0 79 }
dlweakley 11:ed9539245ea0 80 }
Snay22 19:0e9bf6d61d0d 81 void move_pulses(int pulses, int wait){ // find number of pulses from the encoder going from one end to the other.
dlweakley 11:ed9539245ea0 82 int start = encoder.getPulses();
dlweakley 20:8063c82bbb35 83 if(pulses >= 0){
dlweakley 11:ed9539245ea0 84 while(encoder.getPulses() < start + pulses){
dlweakley 20:8063c82bbb35 85 printf("here");
dlweakley 20:8063c82bbb35 86 // motor.clockwise(wait);
dlweakley 11:ed9539245ea0 87 }
dlweakley 11:ed9539245ea0 88 }else{
dlweakley 20:8063c82bbb35 89 while(encoder.getPulses() > start + pulses){
dlweakley 20:8063c82bbb35 90 // motor.anticlockwise(wait);
dlweakley 20:8063c82bbb35 91 }
dlweakley 20:8063c82bbb35 92 }
Snay22 18:5a1c351094d2 93 }
Snay22 18:5a1c351094d2 94
dlweakley 20:8063c82bbb35 95 void test_pulsetodist(){ // have user input x amount of pulses to move motor a certain distance
dlweakley 20:8063c82bbb35 96
Snay22 18:5a1c351094d2 97 while(1)
Snay22 18:5a1c351094d2 98 {
Snay22 18:5a1c351094d2 99 char str[4];
Snay22 18:5a1c351094d2 100 int steps = 0;
Snay22 18:5a1c351094d2 101 int wait = 1000;
Snay22 18:5a1c351094d2 102 time_t start = time(0);
Snay22 18:5a1c351094d2 103 double elapsed;
Snay22 18:5a1c351094d2 104 printf("Enter the amount of steps: ");
Snay22 18:5a1c351094d2 105 fgets(str,4,stdin);
Snay22 18:5a1c351094d2 106 printf("\r\nSteps: %s", str);
Snay22 18:5a1c351094d2 107 steps = atoi(str);
Snay22 18:5a1c351094d2 108
Snay22 18:5a1c351094d2 109 if(steps > 0)
Snay22 18:5a1c351094d2 110 motor.step_clockwise(steps, wait);
Snay22 18:5a1c351094d2 111 else
Snay22 18:5a1c351094d2 112 motor.step_anticlockwise(steps, wait);
Snay22 18:5a1c351094d2 113 elapsed = difftime( time(0), start);
Snay22 18:5a1c351094d2 114 printf("\r\nTook %i steps in time: %f \r\n",steps, elapsed);
Snay22 18:5a1c351094d2 115 }
Snay22 18:5a1c351094d2 116 }
dlweakley 20:8063c82bbb35 117 void update_handler(){
dlweakley 20:8063c82bbb35 118 pend.update();
dlweakley 20:8063c82bbb35 119 }
dlweakley 8:2abfdbf5a3b8 120 int main() {
dlweakley 20:8063c82bbb35 121 update.attach(&update_handler, pend.UPDATE_TIME);
dlweakley 20:8063c82bbb35 122 wait(1);
dlweakley 20:8063c82bbb35 123 pend.set_zeros();
dlweakley 20:8063c82bbb35 124 while(1)pend.print_test();
dlweakley 8:2abfdbf5a3b8 125
dlweakley 8:2abfdbf5a3b8 126 }