![](/media/cache/group/9e3cc099b3b04bca937a1cca1da81b19.jpg.50x50_q85.jpg)
Afgesplitste versie van motor control waarbij we ook iets met EMG gaan doen
Dependencies: mbed QEI HIDScope biquadFilter MODSERIAL FastPWM
Diff: main.cpp
- Revision:
- 5:54ce02ad7a50
- Parent:
- 4:28d71b0a29aa
- Child:
- 6:c352578a95b3
diff -r 28d71b0a29aa -r 54ce02ad7a50 main.cpp --- a/main.cpp Fri Oct 04 12:58:04 2019 +0000 +++ b/main.cpp Fri Oct 04 13:24:06 2019 +0000 @@ -9,7 +9,8 @@ DigitalOut ledg(LED_GREEN); DigitalOut ledb(LED_BLUE); PwmOut led1(D10); -DigitalIn button1(D11); +InterruptIn button1(D11); +InterruptIn button2(D10); AnalogIn potmeter(A0); DigitalIn sw(SW2); MODSERIAL pc(USBTX, USBRX); @@ -25,13 +26,16 @@ Ticker motorTicker; Ticker encoderTicker; -const float maxVelocity = 7.958701; // 76 RPM to rad/s +const float maxVelocity = 7.958701 * 0.75; // 76 RPM to rad/s at 75% efficiency due to 9V instead of 12V const float PWM_period = 1e-6; volatile int counts; // Encoder counts volatile int countsPrev = 0; volatile int deltaCounts; +// motor1Direction = 1; +volatile int motor1Toggle = 1; + float factorin = 6.23185/64; // Convert encoder counts to angle in rad float gearratio = 131.25; // Gear ratio of gearbox @@ -50,7 +54,7 @@ void motorControl() { float potValue = potmeter.read(); - motor1Power.pulsewidth(potValue * PWM_period); + motor1Power.pulsewidth(potValue * PWM_period * motor1Toggle); } void readEncoder() @@ -61,6 +65,16 @@ countsPrev = counts; } +void flipDirection() +{ + motor1Direction = !motor1Direction; +} + +void toggleMotor() +{ + motor1Toggle = !motor1Toggle; +} + int main() { pc.baud(115200); @@ -69,23 +83,22 @@ motor1Power.period(PWM_period); motorTicker.attach(motorControl, 0.01); - + float T_encoder = 0.1; encoderTicker.attach(readEncoder, T_encoder); - motor1Direction = 0; + button1.fall(&flipDirection); + button2.fall(&toggleMotor); while (true) { - float potValue = potmeter.read(); // Read potmeter - float angle = counts * factorin / gearratio; // Angle of motor shaft in rad float omega = deltaCounts / T_encoder * factorin / gearratio; // Angular velocity of motor shaft in rad/s - + pc.printf("Potmeter: %f \r\n", potValue); pc.printf("Counts: %i DeltaCounts: %i\r\n", counts, deltaCounts); pc.printf("Angle: %f Omega: %f\r\n", angle, omega); - + wait(0.5); } }