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Dependencies: MODSERIAL mbed-rtos mbed
Fork of Master by
control.cpp@8:bfcfda6b38fe, 2014-09-13 (annotated)
- Committer:
- 9uS7
- Date:
- Sat Sep 13 09:42:55 2014 +0000
- Revision:
- 8:bfcfda6b38fe
- Parent:
- 3:12e1f116ea42
- Child:
- 9:6057314dc8ec
bluetoothable
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
9uS7 | 0:4f07ba929908 | 1 | #include "mbed.h" |
9uS7 | 0:4f07ba929908 | 2 | #include "control.h" |
9uS7 | 0:4f07ba929908 | 3 | |
9uS7 | 1:e1cfb5850088 | 4 | //sensor |
9uS7 | 8:bfcfda6b38fe | 5 | AnalogIn IR(p20); |
9uS7 | 8:bfcfda6b38fe | 6 | AnalogIn FSR(p19); |
9uS7 | 1:e1cfb5850088 | 7 | |
9uS7 | 1:e1cfb5850088 | 8 | //motor |
9uS7 | 1:e1cfb5850088 | 9 | DigitalOut Sig1(p21); |
9uS7 | 1:e1cfb5850088 | 10 | DigitalOut Sig2(p23); |
9uS7 | 1:e1cfb5850088 | 11 | PwmOut Pwm(p22); |
9uS7 | 1:e1cfb5850088 | 12 | |
9uS7 | 8:bfcfda6b38fe | 13 | RawSerial c_pc(USBTX, USBRX); // tx, rx |
9uS7 | 8:bfcfda6b38fe | 14 | |
9uS7 | 2:c610e1a7fbcd | 15 | void motorSetup(void){ |
9uS7 | 2:c610e1a7fbcd | 16 | resetPos(); |
9uS7 | 2:c610e1a7fbcd | 17 | } |
9uS7 | 2:c610e1a7fbcd | 18 | |
9uS7 | 3:12e1f116ea42 | 19 | void motor( char function , float power ){ |
9uS7 | 3:12e1f116ea42 | 20 | switch(function){ |
9uS7 | 3:12e1f116ea42 | 21 | case MOTOR_PULL : |
9uS7 | 3:12e1f116ea42 | 22 | pull( power ); |
9uS7 | 3:12e1f116ea42 | 23 | break; |
9uS7 | 3:12e1f116ea42 | 24 | case MOTOR_LOOSE : |
9uS7 | 3:12e1f116ea42 | 25 | loose( power ); |
9uS7 | 3:12e1f116ea42 | 26 | break; |
9uS7 | 3:12e1f116ea42 | 27 | case MOTOR_OPEN: |
9uS7 | 3:12e1f116ea42 | 28 | open(); |
9uS7 | 3:12e1f116ea42 | 29 | break; |
9uS7 | 3:12e1f116ea42 | 30 | case MOTOR_BRAKE: |
9uS7 | 3:12e1f116ea42 | 31 | brake(); |
9uS7 | 3:12e1f116ea42 | 32 | break; |
9uS7 | 3:12e1f116ea42 | 33 | } |
9uS7 | 3:12e1f116ea42 | 34 | } |
9uS7 | 3:12e1f116ea42 | 35 | |
9uS7 | 0:4f07ba929908 | 36 | void pull(float buf){ |
9uS7 | 0:4f07ba929908 | 37 | Sig1 = 0; |
9uS7 | 0:4f07ba929908 | 38 | Sig2 = 1; |
9uS7 | 0:4f07ba929908 | 39 | Pwm = zeroPWM+buf/3; |
9uS7 | 0:4f07ba929908 | 40 | } |
9uS7 | 0:4f07ba929908 | 41 | |
9uS7 | 0:4f07ba929908 | 42 | void loose(float buf){ |
9uS7 | 0:4f07ba929908 | 43 | Sig1 = 1; |
9uS7 | 0:4f07ba929908 | 44 | Sig2 = 0; |
9uS7 | 0:4f07ba929908 | 45 | Pwm = zeroPWM+buf/3; |
9uS7 | 0:4f07ba929908 | 46 | } |
9uS7 | 0:4f07ba929908 | 47 | |
9uS7 | 0:4f07ba929908 | 48 | void brake(void){ |
9uS7 | 0:4f07ba929908 | 49 | Sig1 = 0; |
9uS7 | 0:4f07ba929908 | 50 | Sig2 = 0; |
9uS7 | 0:4f07ba929908 | 51 | Pwm = 1; |
9uS7 | 0:4f07ba929908 | 52 | } |
9uS7 | 0:4f07ba929908 | 53 | |
9uS7 | 0:4f07ba929908 | 54 | void open(void){ |
9uS7 | 0:4f07ba929908 | 55 | Sig1 = 0; |
9uS7 | 0:4f07ba929908 | 56 | Sig2 = 0; |
9uS7 | 0:4f07ba929908 | 57 | Pwm = 0; |
9uS7 | 0:4f07ba929908 | 58 | } |
9uS7 | 0:4f07ba929908 | 59 | |
9uS7 | 2:c610e1a7fbcd | 60 | void resetPos(void){ |
9uS7 | 0:4f07ba929908 | 61 | int pos_flag=0; |
9uS7 | 1:e1cfb5850088 | 62 | |
9uS7 | 0:4f07ba929908 | 63 | while(1){ |
9uS7 | 1:e1cfb5850088 | 64 | if(IR>center_pos){ |
9uS7 | 0:4f07ba929908 | 65 | pull(0.3); |
9uS7 | 1:e1cfb5850088 | 66 | }else if(IR<center_pos){ |
9uS7 | 0:4f07ba929908 | 67 | loose(0.3); |
9uS7 | 0:4f07ba929908 | 68 | } |
9uS7 | 1:e1cfb5850088 | 69 | if(abs(IR-center_pos)<0.1){ |
9uS7 | 1:e1cfb5850088 | 70 | open(); |
9uS7 | 1:e1cfb5850088 | 71 | pos_flag=-1; |
9uS7 | 1:e1cfb5850088 | 72 | } |
9uS7 | 1:e1cfb5850088 | 73 | if(pos_flag) break; |
9uS7 | 0:4f07ba929908 | 74 | } |
9uS7 | 3:12e1f116ea42 | 75 | } |
9uS7 | 3:12e1f116ea42 | 76 | |
9uS7 | 3:12e1f116ea42 | 77 | |
9uS7 | 3:12e1f116ea42 | 78 | void getSensor(float* _ir,float* _fsr){ |
9uS7 | 3:12e1f116ea42 | 79 | *_ir = IR; |
9uS7 | 3:12e1f116ea42 | 80 | *_fsr = FSR; |
9uS7 | 8:bfcfda6b38fe | 81 | c_pc.printf("%f\n",*_fsr); |
9uS7 | 0:4f07ba929908 | 82 | } |