Revision 12:dfa3591affef, committed 2021-04-14

Comitter:

ackerden

Date:

Wed Apr 14 14:23:47 2021 +0000

Parent:

11:be62f37f3a98

Child:

13:096e5dc3ac23

Commit message:

Changed in this revision

--- a/main.cpp	Wed Apr 14 13:12:13 2021 +0000
+++ b/main.cpp	Wed Apr 14 14:23:47 2021 +0000
@@ -1,9 +1,10 @@
+/*Zeitinput am Anfang: Startzeit 8:00*/
+
+#include <I2C.h>
 #include "mbed.h"
 #include "platform/mbed_thread.h"
 
-
-
-
+#include "mbed_rtc_time.h"
 
 /* PM2_Libary */
 #include "EncoderCounter.h"
@@ -16,6 +17,7 @@
 InterruptIn user_button(USER_BUTTON);
 DigitalOut  led(LED1);
 
+
 bool  executeMainTask = false;
 Timer user_button_timer, loop_timer;
 int   Ts_ms = 50;
@@ -24,74 +26,59 @@
 void button_fall();
 void button_rise();
 
+
 /* create analog input object */
-AnalogIn analogIn(PC_2);
+/*AnalogIn analogIn(PC_2);
 float    dist = 0.0f;
-
-/* create enable dc motor digital out object */
-DigitalOut enable_motors(PB_15);
-/* create pwm objects */
-FastPWM pwmOut_M1(PB_13);
-FastPWM pwmOut_M2(PA_9);
-FastPWM pwmOut_M3(PA_10);
-double  Ts_pwm_s = 0.00005; // this needs to be a double value (no f at the end)
-/* create encoder read objects */
-EncoderCounter  encoderCounter_M1(PA_6, PC_7);
-EncoderCounter  encoderCounter_M2(PB_6, PB_7);
-EncoderCounter  encoderCounter_M3(PA_0, PA_1);
-/* create speed controller objects, only M1 and M2, M3 is used open-loop */
-float counts_per_turn = 20.0f*78.125f; // counts/turn * gearratio
-float kn = 180.0f/12.0f;               // (RPM/V)
-float max_voltage = 12.0f;             // adjust this to 6.0f if only one batterypack is used
-SpeedController speedController_M1(counts_per_turn, kn, max_voltage, pwmOut_M1, encoderCounter_M1);
-SpeedController speedController_M2(counts_per_turn, kn, max_voltage, pwmOut_M2, encoderCounter_M2);
-
+*/
 /* create servo objects */
-Servo servo_S1(PB_2);
+/*Servo servo_S1(PB_2);
 Servo servo_S2(PC_8);
 // Servo servo_S3(PC_6); // not needed in this example
 int servoPeriod_mus = 20000;
 int servoOutput_mus_S1 = 0;
 int servoOutput_mus_S2 = 0;
-int servo_counter = 0;
+int servo_counter = 0;*/
 int loops_per_second = static_cast<int>(ceilf(1.0f/(0.001f*(float)Ts_ms)));
 
 int main()
 {
+    set_time(1618332129);  // Set RTC time to Wed, 28 Oct 2009 11:35:37
     user_button.fall(&button_fall);
     user_button.rise(&button_rise);
     loop_timer.start();
 
-    /* enable hardwaredriver dc motors */
-    enable_motors = 1;
-    /* initialize pwm for motor M3*/
-    pwmOut_M3.period(Ts_pwm_s);
-    /* set pwm output zero at the beginning, range: 0...1 -> u_min...u_max */
-    pwmOut_M3.write(0.5);
 
     /* enable servos, you can also disable them */
-    servo_S1.Enable(servoOutput_mus_S1, servoPeriod_mus);
-    servo_S2.Enable(servoOutput_mus_S2, servoPeriod_mus);
+    //servo_S1.Enable(servoOutput_mus_S1, servoPeriod_mus);
+    //servo_S2.Enable(servoOutput_mus_S2, servoPeriod_mus);
 
     while (true) {
 
         loop_timer.reset();
+        
+        
 
-        /* ------------- start hacking ------------- -------------*/
+ 
 
         if (executeMainTask) {
+            time_t seconds = time(NULL);
+
+        printf("Time as seconds since January 1, 1970 = %u\n", (unsigned int)seconds);
+
+        printf("Time as a basic string = %s", ctime(&seconds));
+
+        char buffer[32];
+        strftime(buffer, 32, "%I:%M %p\n", localtime(&seconds));
+        printf("Time as a custom formatted string = %s", buffer);
+
+        ThisThread::sleep_for(50);
 
             /* read analog input */
-            dist = analogIn.read() * 3.3f;
-
-            /* command a speed to dc motors M1 and M2*/
-            speedController_M1.setDesiredSpeedRPS( 1.0f);
-            speedController_M2.setDesiredSpeedRPS(-0.5f);
-            /* write output voltage to motor M3 */
-            pwmOut_M3.write(0.75);
+            //dist = analogIn.read() * 3.3f;
 
             /* command servo position via output time, this needs to be calibrated */
-            servo_S1.SetPosition(servoOutput_mus_S1);
+            /*servo_S1.SetPosition(servoOutput_mus_S1);
             servo_S2.SetPosition(servoOutput_mus_S2);
             if (servoOutput_mus_S1 <= servoPeriod_mus & servo_counter%loops_per_second == 0 & servo_counter != 0) {
                 servoOutput_mus_S1 += 100;
@@ -99,37 +86,30 @@
             if (servoOutput_mus_S2 <= servoPeriod_mus & servo_counter%loops_per_second == 0 & servo_counter != 0) {
                 servoOutput_mus_S2 += 100;
             }
-            servo_counter++;
+            servo_counter++;*/
 
             /* visual feedback that the main task is executed */
             led = !led;
 
         } else {
 
-            dist = 0.0f;
+            //dist = 0.0f;
 
-            speedController_M1.setDesiredSpeedRPS(0.0f);
-            speedController_M2.setDesiredSpeedRPS(0.0f);
-            pwmOut_M3.write(0.5);
-
-            servoOutput_mus_S1 = 0;
-            servoOutput_mus_S2 = 0;
-            servo_S1.SetPosition(servoOutput_mus_S1);
-            servo_S2.SetPosition(servoOutput_mus_S2);
+            //servoOutput_mus_S1 = 0;
+            //servoOutput_mus_S2 = 0;
+            //servo_S1.SetPosition(servoOutput_mus_S1);
+            //servo_S2.SetPosition(servoOutput_mus_S2);
 
             led = 0;
         }
 
         /* do only output via serial what's really necessary (this makes your code slow)*/
-        printf("%3.3f, %3d, %3d, %3d, %3.3f, %3.3f;\r\n",
-               dist,
-               servoOutput_mus_S1,
-               servoOutput_mus_S2,
-               encoderCounter_M3.read(),
-               speedController_M1.getSpeedRPS(),
-               speedController_M2.getSpeedRPS());
+        //printf("%3.3f, %3d;\r\n",
+               //dist,
+               //servoOutput_mus_S1,
+               //servoOutput_mus_S2);
+            
 
-        /* ------------- stop hacking ------------- -------------*/
 
         int T_loop_ms = duration_cast<milliseconds>(loop_timer.elapsed_time()).count();
         int dT_loop_ms = Ts_ms - T_loop_ms;