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@4:e481566a5b54, 2015-09-24 (annotated)

Committer:
ewoud
Date:
Thu Sep 24 09:43:33 2015 +0000
Revision:
4:e481566a5b54
Parent:
3:6a97e1d68511
Child:
5:edac3771ede4
published, motor driver simple position by pot meter

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;
ewoud 4:e481566a5b54 23 int errorsignal;
ewoud 4:e481566a5b54 24 float Kf=0.2;
vsluiter 0:e300738b9507 25 //start 'main' function. Should be done once in every C(++) program
vsluiter 0:e300738b9507 26 int main()
vsluiter 0:e300738b9507 27 {
vsluiter 0:e300738b9507 28 //setup some stuff
vsluiter 0:e300738b9507 29 //period of PWM signal is 10kHz. Every 100 microsecond a new PWM period is started
ewoud 1:f5b12280ea8a 30 myled1.period_ms(0.1);
ewoud 1:f5b12280ea8a 31 myled2.period_ms(0.1);
ewoud 3:6a97e1d68511 32 myled1=0.5;
ewoud 2:6a4a2e355cd9 33 //motor1=1;
vsluiter 0:e300738b9507 34 //while 1 is unequal to zero. For humans: loop forever
vsluiter 0:e300738b9507 35 while(1) {
ewoud 3:6a97e1d68511 36 currentpulses=wheel.getPulses();
ewoud 3:6a97e1d68511 37 gototick = pot1.read()*countsPerRound;
ewoud 4:e481566a5b54 38 errorsignal=gototick-currentpulses;
ewoud 3:6a97e1d68511 39 if (lastpotread != pot1.read()){
ewoud 3:6a97e1d68511 40 lastpotread=pot1.read();
ewoud 4:e481566a5b54 41 pc.printf("potvalue: %f, position: %d, control speed: %f \n\r",gototick,currentpulses,errorsignal*Kf);
ewoud 3:6a97e1d68511 42 }
vsluiter 0:e300738b9507 43
ewoud 4:e481566a5b54 44 if (errorsignal > 0)
ewoud 3:6a97e1d68511 45 {
ewoud 4:e481566a5b54 46 motor1direction=0;
ewoud 4:e481566a5b54 47 myled1=errorsignal*Kf;
ewoud 3:6a97e1d68511 48
ewoud 3:6a97e1d68511 49 }
ewoud 3:6a97e1d68511 50 else
ewoud 3:6a97e1d68511 51 {
ewoud 3:6a97e1d68511 52 motor1direction=1;
ewoud 4:e481566a5b54 53 myled1=-errorsignal*Kf;
ewoud 3:6a97e1d68511 54 }
ewoud 3:6a97e1d68511 55
ewoud 3:6a97e1d68511 56
ewoud 3:6a97e1d68511 57 //myled1.write(pot1.read());
ewoud 3:6a97e1d68511 58 //myled2.write(pot2.read());
vsluiter 0:e300738b9507 59 //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 60 //This loop executes at roughly 100Hz (1/0.01s)
vsluiter 0:e300738b9507 61 wait(0.01);
vsluiter 0:e300738b9507 62 }
vsluiter 0:e300738b9507 63 }
vsluiter 0:e300738b9507 64