Diff: main.cpp

Revision:

0:022cc499efd8

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sun Jul 05 10:20:31 2020 +0000
@@ -0,0 +1,184 @@
+/*  
+########    Project name:       servo_control
+#readme#    Program creater:    Chong
+########    Last edit:          19/6/2020
+
+[aims]
+    This program is to test the drive the servo from middle position.
+
+[board]
+    NUCLEO-F401RE
+    F446RE_Universal_board with button
+        Creater:    Big Vic
+        Date:       29/4/2020
+[input] button design
+    A5    A4      A3      A2      A1      A0
+    start read    +1      reset   -1      read
+
+    #after start
+    A5    A4      A3      A2      A1      A0
+    prev  max     +%      mid     -%      min
+
+[output]
+    D3
+    pwm
+
+[flow]
+    initialize:
+    blink onboard led 2 second
+    servo position = middle position
+    
+    main:
+    change postition depend on the button pressed
+    # only button [+5%(A3)] and [-5%(A1)] will change the position after release the button
+    # other button will change the position immediately
+
+[user guide]
+    goto user setting
+    check the period / hertz of the servo               e.g. 0.020f
+    check the minimum and maximum valid pulsewidth      e.g. 500, 2500
+    check the minimum and maximum valid degree [0,360]  e.g. 0, 180
+    
+    
+*/
+#include "mbed.h"
+#define isOn(a) a<0.3f  //Analog button pressed
+AnalogIn min_post(A0);
+AnalogIn minus_post(A1);
+AnalogIn mid_post(A2);
+AnalogIn plus_post(A3);
+AnalogIn max_post(A4);
+AnalogIn prev_post(A5);
+InterruptIn mybutton(BUTTON1);
+//servo output
+PwmOut servo(D3);
+
+//debug light
+DigitalOut led(PA_5);
+
+//user setting 
+    //hertz(hz) / period time(s) of servo
+    const double hertz = 50;
+    const double servo_period = 1/hertz;
+    //pulsewidth(us)
+    const double min_us = 500;
+    const double max_us = 2500;
+    //degree
+    const double min_degree = 0;            //refer to the minimum pulsewidth(us)
+    const double max_degree = 180;          //refer to the maximum pulsewidth(us)
+    
+    //mode
+    const bool degree_mode = false;             //  0: false, 1:true
+    
+    //button setting for [+10%(A3)] and [-10%(A1)]
+        //change if degree_mode == true
+        const double change_degree = 1;         //range (0.0, 180.0]
+        //change if degree_mode == false
+        const double change_percentage = 0.05;   //range (0.0, 1.0)
+        
+//user setting end
+
+//------------------------------------------------------------------------------------------------------------
+            
+//calculate variable
+    const double mid_us = (max_us + min_us)/2;
+    const double change = degree_mode?change_degree/(max_degree - min_degree)*(max_us - min_us)+ min_us:(max_us - min_us)*change_percentage;
+    int factor = 2;
+    bool reset = true;
+//calculate variable end
+    
+// degree to pwm function
+double degree2pwm(double d){
+    return (d/(max_degree - min_degree)*(max_us - min_us)+ min_us);
+}
+
+//initialize function 
+void blink_testing(double w){
+    led = 0;
+    for(int i = 1; i <= factor; i++){
+        led = 1; wait(w);
+        led = 0; wait(w);
+    }
+}
+
+void m(){
+//    [input] button design
+//    #after start
+//    A5    A4      A3      A2      A1      A0
+//    prev  max     +%      mid     -%      min
+    //set previous, current and next pulsewidth status
+    double prev_pulsewidth = mid_us;
+    double curr_pulsewidth = mid_us;
+    double next_pulsewidth = mid_us;
+    while(reset){
+        //button control (change: next_pulsewidth)
+        if      (isOn(mid_post))      next_pulsewidth = mid_us;
+        else if (isOn(min_post))      next_pulsewidth = min_us;
+        else if (isOn(max_post))      next_pulsewidth = max_us;
+        
+        else if (isOn(minus_post)){
+            //wait until release button
+            while(isOn(minus_post));    next_pulsewidth = max(min_us, next_pulsewidth - change*factor);
+        }
+        else if (isOn(plus_post)){
+            //wait until release button
+            while(isOn(plus_post));     next_pulsewidth = min(max_us, next_pulsewidth + change*factor);
+        }
+        else if (isOn(prev_post)){
+            //action immediately
+            servo.pulsewidth_us(prev_pulsewidth);
+            next_pulsewidth = prev_pulsewidth;
+            //wait until release button
+            while(isOn(plus_post));
+        }
+        //button control end
+        
+        //action if button change exclude [prev_post(A5)]
+        if (next_pulsewidth != curr_pulsewidth){
+            servo.pulsewidth_us(next_pulsewidth);
+            prev_pulsewidth = curr_pulsewidth;
+            curr_pulsewidth = next_pulsewidth;
+            led = !led;
+            //wait(0.2f);
+        }
+    }
+}
+void restart(){
+    reset = false;
+    led = 0; wait (0.2f);
+    blink_testing(0.2f);
+}
+int main() {
+    //initialize
+    mybutton.rise(&restart);
+    blink_testing(0.5f);                    //blink onboard led 2 second
+    servo.period(servo_period);             //set period time of servo
+    servo.pulsewidth_us(mid_us);            //write the pulsewidth (init: mid)
+    factor = 1;
+    while(1){
+//        [input] button design
+//        A5    A4      A3      A2      A1      A0
+//        start read    +1      reset   -1      read
+        if      (isOn(mid_post))        factor = 1;
+        else if (isOn(minus_post)){
+            //wait until release button
+            while(isOn(minus_post));    factor = max(1, factor-1);
+        }
+        else if (isOn(plus_post)){
+            //wait until release button
+            while(isOn(plus_post));     factor = min(10, factor+1);
+        }   
+        else if (isOn(max_post) || isOn(min_post)){
+            //wait until release button
+            while(isOn(max_post) || isOn(min_post));
+            blink_testing(0.2f);
+        }
+        else if (isOn(prev_post)){
+            //wait until release button
+            while(isOn(plus_post));       m();        //start
+        }
+        reset = true;
+
+    }
+    
+}
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