Robocon 2021 / Mbed 2 deprecated DC_Stepper_Controller_Lib

Library version for DC_Stepper_Controller_Lib with PWM speed control

Dependencies:   mbed QEI PID

Dependents:   DR-ArmServoTest Auto_DC_pick_class MBed_TR1 ros_button_2021

sample_main.cpp@14:c9611cf036ad, 2021-05-27 (annotated)

Committer:
stivending
Date:
Thu May 27 07:32:49 2021 +0000
Revision:
14:c9611cf036ad
Parent:
13:675456f1f401
Child:
15:87df75ee8731
update ppr into param;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
stivending 12:3949fd23be49 1 /*******************************************************
stivending 12:3949fd23be49 2 DC MODOR CONTROLLER LIBRARY
stivending 12:3949fd23be49 3 *******************************************************
stivending 13:675456f1f401 4 IMPORTANT: GO TO README FOR DOCUMENT!
stivending 12:3949fd23be49 5 ********************************************************/
stivending 12:3949fd23be49 6
cheukming0607 2:6bc435f4ffec 7 #include "mbed.h"
aberk 0:bcff39fac858 8 #include "QEI.h"
stivending 5:c040faf21e07 9 #include "DC_Motor_Controller.h"
aberk 0:bcff39fac858 10
stivending 9:49b59b308767 11
stivending 13:675456f1f401 12 DC_Motor_PID motor(D6,D3,D4,D5,792); //M1, M2, INA, INB, PPR
stivending 12:3949fd23be49 13 DigitalIn but(USER_BUTTON);
stivending 4:b242191ed0cf 14
stivending 12:3949fd23be49 15 // angle = 412 degree to move from one to another
stivending 12:3949fd23be49 16 // angle = 100 degree to
stivending 9:49b59b308767 17
stivending 12:3949fd23be49 18 int main() {
stivending 12:3949fd23be49 19
stivending 13:675456f1f401 20 motor.set_pid(0.008, 0, 0);
stivending 12:3949fd23be49 21
stivending 12:3949fd23be49 22 Serial pc(USBTX, USBRX); // tx, rx
stivending 12:3949fd23be49 23 pc.baud(9600);
stivending 12:3949fd23be49 24
stivending 12:3949fd23be49 25 while(1)
stivending 12:3949fd23be49 26 {
stivending 12:3949fd23be49 27
stivending 12:3949fd23be49 28 while(!pc.readable())
stivending 12:3949fd23be49 29 if(but) { motor.set_out(0,0); pc.printf("\n now: %d \n", motor.get_pulse()); break;}
stivending 12:3949fd23be49 30 if(pc.readable()) {
stivending 12:3949fd23be49 31 if(pc.getc() == '1') motor.set_out(0.6,0);
stivending 12:3949fd23be49 32 else if(pc.getc() == '2') motor.set_out(0,0.6);
stivending 12:3949fd23be49 33 }
stivending 12:3949fd23be49 34 else break;
stivending 12:3949fd23be49 35 }
stivending 12:3949fd23be49 36
stivending 7:6e59ed00a6a9 37 /*
stivending 7:6e59ed00a6a9 38 motor.set_out(1,0);
stivending 7:6e59ed00a6a9 39 wait(5);
stivending 7:6e59ed00a6a9 40 motor.set_out(0,1);
stivending 12:3949fd23be49 41 wait(5);
stivending 12:3949fd23be49 42 */
stivending 12:3949fd23be49 43 wait(0.5);
stivending 14:c9611cf036ad 44 motor.move_angle(1000); // speed, 0 to 1
stivending 12:3949fd23be49 45 wait(0.5);
stivending 14:c9611cf036ad 46 motor.move_angle(-1000); // speed, 0 to 1
stivending 12:3949fd23be49 47 wait(0.5);
stivending 13:675456f1f401 48 motor.move_angle(412); // speed, 0 to 1
stivending 12:3949fd23be49 49 wait(0.5);
stivending 13:675456f1f401 50 motor.move_angle(412); // speed, 0 to 1
stivending 12:3949fd23be49 51 wait(0.5);
stivending 13:675456f1f401 52 motor.move_angle(120); // speed, 0 to 1
stivending 10:fe56f6800a72 53
cheukming0607 2:6bc435f4ffec 54 }