Numero Uno / Mbed 2 deprecated MotorDriver

code to drive the motors to the right position

Dependencies:   HIDScope QEI mbed

Fork of BMT-K9_potmeter_fade by First Last

main.cpp@3:6a97e1d68511, 2015-09-23 (annotated)

Committer:
ewoud
Date:
Wed Sep 23 09:44:06 2015 +0000
Revision:
3:6a97e1d68511
Parent:
2:6a4a2e355cd9
Child:
4:e481566a5b54
potmeter controls position without any control tricks

Who changed what in which revision?

UserRevisionLine numberNew contents of line
vsluiter 0:e300738b9507 1 #include "mbed.h"
ewoud 1:f5b12280ea8a 2 #include "HIDScope.h"
ewoud 3:6a97e1d68511 3 #include "QEI.h"
vsluiter 0:e300738b9507 4
vsluiter 0:e300738b9507 5 // myled is an object of class PwmOut. It uses the LED_RED pin
vsluiter 0:e300738b9507 6 // in human speech: myled is an output that can be controlled with PWM. LED_RED is the pin which is connected to the output
ewoud 2:6a4a2e355cd9 7 PwmOut myled2(D5);
ewoud 2:6a4a2e355cd9 8 PwmOut myled1(D6);
ewoud 2:6a4a2e355cd9 9
ewoud 3:6a97e1d68511 10 DigitalOut motor1direction(D7);
vsluiter 0:e300738b9507 11 // pot is an object of class AnalogIn. It uses the PTB0 pin
vsluiter 0:e300738b9507 12 // in human speech: pot is an analog input. You can read the voltage on pin PTB0
ewoud 2:6a4a2e355cd9 13 AnalogIn pot1(A0);
ewoud 2:6a4a2e355cd9 14 AnalogIn pot2(A1);
vsluiter 0:e300738b9507 15
ewoud 1:f5b12280ea8a 16 //HIDScope scope(1);
ewoud 1:f5b12280ea8a 17 Serial pc(USBTX, USBRX);
ewoud 3:6a97e1d68511 18 QEI wheel (D12, D13, NC, 624);
ewoud 3:6a97e1d68511 19 float lastpotread = 0;
ewoud 3:6a97e1d68511 20 int countsPerRound = 32*131;
ewoud 3:6a97e1d68511 21 float gototick;
ewoud 3:6a97e1d68511 22 int currentpulses;
vsluiter 0:e300738b9507 23 //start 'main' function. Should be done once in every C(++) program
vsluiter 0:e300738b9507 24 int main()
vsluiter 0:e300738b9507 25 {
vsluiter 0:e300738b9507 26 //setup some stuff
vsluiter 0:e300738b9507 27 //period of PWM signal is 10kHz. Every 100 microsecond a new PWM period is started
ewoud 1:f5b12280ea8a 28 myled1.period_ms(0.1);
ewoud 1:f5b12280ea8a 29 myled2.period_ms(0.1);
ewoud 3:6a97e1d68511 30 myled1=0.5;
ewoud 2:6a4a2e355cd9 31 //motor1=1;
vsluiter 0:e300738b9507 32 //while 1 is unequal to zero. For humans: loop forever
vsluiter 0:e300738b9507 33 while(1) {
ewoud 3:6a97e1d68511 34 currentpulses=wheel.getPulses();
ewoud 3:6a97e1d68511 35 gototick = pot1.read()*countsPerRound;
ewoud 3:6a97e1d68511 36 if (lastpotread != pot1.read()){
ewoud 3:6a97e1d68511 37 lastpotread=pot1.read();
ewoud 3:6a97e1d68511 38 pc.printf("potvalue: %f, position: %d \n\r",gototick,currentpulses);
ewoud 3:6a97e1d68511 39 }
vsluiter 0:e300738b9507 40
ewoud 3:6a97e1d68511 41 if (gototick > wheel.getPulses())
ewoud 3:6a97e1d68511 42 {
ewoud 3:6a97e1d68511 43 motor1direction=0;
ewoud 3:6a97e1d68511 44
ewoud 3:6a97e1d68511 45 }
ewoud 3:6a97e1d68511 46 else
ewoud 3:6a97e1d68511 47 {
ewoud 3:6a97e1d68511 48 motor1direction=1;
ewoud 3:6a97e1d68511 49 }
ewoud 3:6a97e1d68511 50
ewoud 3:6a97e1d68511 51
ewoud 3:6a97e1d68511 52 //myled1.write(pot1.read());
ewoud 3:6a97e1d68511 53 //myled2.write(pot2.read());
vsluiter 0:e300738b9507 54 //wait some time to give the LED output a few PWM cycles. Otherwise a new value is written before the previously set PWM period (of 100microseconds) is finished
vsluiter 0:e300738b9507 55 //This loop executes at roughly 100Hz (1/0.01s)
vsluiter 0:e300738b9507 56 wait(0.01);
vsluiter 0:e300738b9507 57 }
vsluiter 0:e300738b9507 58 }
vsluiter 0:e300738b9507 59