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Dependencies:   mbed

main.cpp@4:acb62dee5ba9, 2015-10-10 (annotated)

Committer:
jiteshg
Date:
Sat Oct 10 01:11:59 2015 +0000
Revision:
4:acb62dee5ba9
Parent:
3:66a52943c525
Child:
5:7b4575bf205e
Almost complete code with interrupts from IR

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jiteshg 1:8c73948a0864 1 /*
jiteshg 1:8c73948a0864 2 Using pwm to run a servo motor
jiteshg 1:8c73948a0864 3 Connect the red wire of the servo motor to 3.3V and not 5V
jiteshg 2:bf817b299c19 4
jiteshg 2:bf817b299c19 5 DC motor pins - p5 and p6 to control the direction of the motor
jiteshg 2:bf817b299c19 6 p23 to control the duty cycle and period
jiteshg 1:8c73948a0864 7 */
jiteshg 0:fd080fb55bae 8 #include "mbed.h"
jiteshg 2:bf817b299c19 9 PwmOut pwm1(p21); //Servo Motor-1 PWM channel
jiteshg 2:bf817b299c19 10 PwmOut pwm2(p22); //Servo Motor-2 PWM channel
jiteshg 2:bf817b299c19 11
jiteshg 2:bf817b299c19 12 DigitalOut dc1(p5); //DC motor input-1
jiteshg 2:bf817b299c19 13 DigitalOut dc2(p6); //DC motor input-2
jiteshg 2:bf817b299c19 14 PwmOut pwm3(p23); //DC motor PWM channel
jiteshg 2:bf817b299c19 15
jiteshg 3:66a52943c525 16 AnalogIn button(p15); //Analog input from the floor buttons
jiteshg 4:acb62dee5ba9 17 InterruptIn event(p7); //Interrupt for rising and falling edge detection from IR
jiteshg 3:66a52943c525 18
jiteshg 4:acb62dee5ba9 19 Timer timer; //Timer to read falling and rising edge time
jiteshg 4:acb62dee5ba9 20 Serial pc(USBTX, USBRX);//Serial Communication
jiteshg 0:fd080fb55bae 21
jiteshg 2:bf817b299c19 22 void openGate();
jiteshg 2:bf817b299c19 23 void closeGate();
jiteshg 4:acb62dee5ba9 24 void rising();
jiteshg 4:acb62dee5ba9 25 void falling();
jiteshg 4:acb62dee5ba9 26
jiteshg 3:66a52943c525 27 int getState(float adc_val);
jiteshg 3:66a52943c525 28
jiteshg 2:bf817b299c19 29 int currentState = 1;
jiteshg 4:acb62dee5ba9 30 int begin,end = 0;
jiteshg 4:acb62dee5ba9 31 float frequency = 0;
jiteshg 4:acb62dee5ba9 32 bool flag = false;
jiteshg 4:acb62dee5ba9 33 int fvalues[] = {0,100,250,500,700,1000};
jiteshg 2:bf817b299c19 34
jiteshg 0:fd080fb55bae 35 int main() {
jiteshg 4:acb62dee5ba9 36 timer.start();
jiteshg 4:acb62dee5ba9 37 event.rise(&rising);
jiteshg 4:acb62dee5ba9 38 event.fall(&falling);
jiteshg 2:bf817b299c19 39 //Setting dc1 to high and dc2 to low initially
jiteshg 4:acb62dee5ba9 40 dc1 = 0;
jiteshg 4:acb62dee5ba9 41 dc2 = 1;
jiteshg 2:bf817b299c19 42 pwm3.period_ms(20);
jiteshg 2:bf817b299c19 43 pwm3.write(0);
jiteshg 2:bf817b299c19 44
jiteshg 2:bf817b299c19 45 //Setting the period and duty cycle for Servo motors
jiteshg 0:fd080fb55bae 46 pwm1.period_ms(20);
jiteshg 2:bf817b299c19 47 pwm2.period_ms(20);
jiteshg 2:bf817b299c19 48 pwm1.write(0);
jiteshg 2:bf817b299c19 49 pwm2.write(0);
jiteshg 1:8c73948a0864 50
jiteshg 1:8c73948a0864 51 while(1){
jiteshg 4:acb62dee5ba9 52 printf("Frequency:-%f\n", frequency);
jiteshg 4:acb62dee5ba9 53 char c = pc.getc();
jiteshg 4:acb62dee5ba9 54 int val = c - 48;
jiteshg 4:acb62dee5ba9 55 //float adc_val = button.read();
jiteshg 4:acb62dee5ba9 56 //int val = getState(adc_val);
jiteshg 4:acb62dee5ba9 57 pc.printf("Floor-%d\n",val);
jiteshg 4:acb62dee5ba9 58 pc.printf("CurrentState-%d\n",currentState);
jiteshg 4:acb62dee5ba9 59 wait(1);
jiteshg 2:bf817b299c19 60 if(val==currentState){
jiteshg 2:bf817b299c19 61 pwm3.write(0);
jiteshg 2:bf817b299c19 62 }
jiteshg 2:bf817b299c19 63 else if(val > currentState){
jiteshg 4:acb62dee5ba9 64 closeGate(); //Close gate
jiteshg 2:bf817b299c19 65 //Move Up
jiteshg 4:acb62dee5ba9 66 dc1 = 0;
jiteshg 4:acb62dee5ba9 67 dc2 = 1;
jiteshg 4:acb62dee5ba9 68 pwm3.write(0.5);
jiteshg 4:acb62dee5ba9 69 //wait(2);
jiteshg 4:acb62dee5ba9 70 pc.printf("Floor Frequency value:%d\n",fvalues[val]);
jiteshg 4:acb62dee5ba9 71 while(1){
jiteshg 4:acb62dee5ba9 72 if(((frequency > (fvalues[val] - 10)) && (frequency < (fvalues[val] + 10)))){
jiteshg 4:acb62dee5ba9 73 break;
jiteshg 4:acb62dee5ba9 74 }
jiteshg 4:acb62dee5ba9 75 else{
jiteshg 4:acb62dee5ba9 76 printf("current freq: %f\n",frequency);
jiteshg 4:acb62dee5ba9 77 }
jiteshg 4:acb62dee5ba9 78 }
jiteshg 4:acb62dee5ba9 79 //while(!((frequency > (fvalues[val] - 50)) && (frequency < (fvalues[val] + 50))));
jiteshg 4:acb62dee5ba9 80 pwm3.write(0);
jiteshg 4:acb62dee5ba9 81 openGate();
jiteshg 4:acb62dee5ba9 82 }else{
jiteshg 4:acb62dee5ba9 83 closeGate(); //Close gate
jiteshg 4:acb62dee5ba9 84 //Move Down
jiteshg 2:bf817b299c19 85 dc1 = 1;
jiteshg 2:bf817b299c19 86 dc2 = 0;
jiteshg 4:acb62dee5ba9 87 pwm3.write(0.5);
jiteshg 4:acb62dee5ba9 88 //wait(2);
jiteshg 4:acb62dee5ba9 89 pc.printf("Floor Frequency value:-%d\n",fvalues[val]);
jiteshg 4:acb62dee5ba9 90 //while(!((frequency > (fvalues[val] - 50)) && (frequency < (fvalues[val] + 50))));
jiteshg 4:acb62dee5ba9 91 while(1){
jiteshg 4:acb62dee5ba9 92 if(((frequency > (fvalues[val] - 10)) && (frequency < (fvalues[val] + 10)))){
jiteshg 4:acb62dee5ba9 93 break;
jiteshg 4:acb62dee5ba9 94 }
jiteshg 4:acb62dee5ba9 95 else{
jiteshg 4:acb62dee5ba9 96 printf("current freq: %f\n",frequency);
jiteshg 4:acb62dee5ba9 97 }
jiteshg 4:acb62dee5ba9 98 }
jiteshg 2:bf817b299c19 99 pwm3.write(0);
jiteshg 4:acb62dee5ba9 100 openGate();
jiteshg 1:8c73948a0864 101 }
jiteshg 2:bf817b299c19 102 currentState = val;
jiteshg 1:8c73948a0864 103 }
jiteshg 2:bf817b299c19 104 }
jiteshg 2:bf817b299c19 105
jiteshg 2:bf817b299c19 106 void openGate(){
jiteshg 2:bf817b299c19 107 pwm1.write(0.0375); // 3.75% duty cycle - Open the gate
jiteshg 2:bf817b299c19 108 pwm2.write(0.1125); // 11.25% duty cycle - Open the gate
jiteshg 2:bf817b299c19 109 wait(2); // 2 sec delay
jiteshg 2:bf817b299c19 110 pwm1.write(0); // Stop
jiteshg 2:bf817b299c19 111 pwm2.write(0); // Stop
jiteshg 2:bf817b299c19 112 wait(2);
jiteshg 0:fd080fb55bae 113 }
jiteshg 2:bf817b299c19 114
jiteshg 2:bf817b299c19 115 void closeGate(){
jiteshg 2:bf817b299c19 116 pwm1.write(0.1125); // 11.25% duty cycle - Close the gate
jiteshg 2:bf817b299c19 117 pwm2.write(0.0375); // 3.75% duty cycle - Close the gate
jiteshg 2:bf817b299c19 118 wait(2); // 2 sec delay
jiteshg 2:bf817b299c19 119 pwm1.write(0); // Stop
jiteshg 2:bf817b299c19 120 pwm2.write(0); // Stop
jiteshg 2:bf817b299c19 121 wait(2);
jiteshg 3:66a52943c525 122 }
jiteshg 3:66a52943c525 123
jiteshg 3:66a52943c525 124 int getState(float adc_val){
jiteshg 3:66a52943c525 125 int state = 0;
jiteshg 3:66a52943c525 126 if(adc_val > 0.15 && adc_val < 0.25){
jiteshg 3:66a52943c525 127 state = 1;
jiteshg 3:66a52943c525 128 }
jiteshg 3:66a52943c525 129 else if(adc_val > 0.35 && adc_val < 0.45){
jiteshg 3:66a52943c525 130 state = 2;
jiteshg 3:66a52943c525 131 }
jiteshg 3:66a52943c525 132 else if(adc_val > 0.55 && adc_val < 0.65){
jiteshg 3:66a52943c525 133 state = 3;
jiteshg 3:66a52943c525 134 }
jiteshg 3:66a52943c525 135 else if(adc_val > 0.75 && adc_val < 0.85){
jiteshg 3:66a52943c525 136 state = 4;
jiteshg 3:66a52943c525 137 }
jiteshg 3:66a52943c525 138 else if(adc_val > 0.95 && adc_val < 1.05){
jiteshg 3:66a52943c525 139 state = 5;
jiteshg 3:66a52943c525 140 }
jiteshg 3:66a52943c525 141 return state;
jiteshg 4:acb62dee5ba9 142 }
jiteshg 4:acb62dee5ba9 143
jiteshg 4:acb62dee5ba9 144 void rising(){
jiteshg 4:acb62dee5ba9 145 begin = timer.read_us();
jiteshg 4:acb62dee5ba9 146 flag = true;
jiteshg 4:acb62dee5ba9 147 }
jiteshg 4:acb62dee5ba9 148 void falling(){
jiteshg 4:acb62dee5ba9 149 if(flag == true){
jiteshg 4:acb62dee5ba9 150 end = timer.read_us();
jiteshg 4:acb62dee5ba9 151 frequency = 500000/(end-begin);
jiteshg 4:acb62dee5ba9 152 begin = 0;
jiteshg 4:acb62dee5ba9 153 end = 0;
jiteshg 4:acb62dee5ba9 154 flag = false;
jiteshg 4:acb62dee5ba9 155 }
jiteshg 2:bf817b299c19 156 }