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

main.cpp@3:1229fe22fdcd, 2021-03-12 (annotated)

Committer:
cheukming0607
Date:
Fri Mar 12 09:53:53 2021 +0000
Revision:
3:1229fe22fdcd
Parent:
2:6bc435f4ffec
Child:
4:b242191ed0cf
Add commend for main.cpp; ;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cheukming0607 2:6bc435f4ffec 1 #include "mbed.h"
aberk 0:bcff39fac858 2 #include "QEI.h"
cheukming0607 2:6bc435f4ffec 3
cheukming0607 3:1229fe22fdcd 4 DigitalOut out1(D2); // Motor direction control pin 1
cheukming0607 3:1229fe22fdcd 5 DigitalOut out2(D4); // Motor direction control pin 2
cheukming0607 3:1229fe22fdcd 6 DigitalIn home_button(D13); // Button for setting the home button
cheukming0607 3:1229fe22fdcd 7 QEI dc_motor (D8,D7,NC,792); // Create QEI object for increment encoder
cheukming0607 3:1229fe22fdcd 8 int counter = 0; // Dummy counter for sample program
aberk 0:bcff39fac858 9
cheukming0607 3:1229fe22fdcd 10 void reset(){ // Setting home point for increment encoder
cheukming0607 3:1229fe22fdcd 11 while (home_button == 0){ // Continue to turn clockwise until home button pressed
cheukming0607 2:6bc435f4ffec 12 out1 = 1;
cheukming0607 2:6bc435f4ffec 13 out2 = 0;
cheukming0607 2:6bc435f4ffec 14 }
cheukming0607 2:6bc435f4ffec 15 out1 = 0;
cheukming0607 3:1229fe22fdcd 16 dc_motor.reset(); // Reset pulse_
cheukming0607 2:6bc435f4ffec 17 wait(1);
cheukming0607 2:6bc435f4ffec 18 };
cheukming0607 2:6bc435f4ffec 19
cheukming0607 3:1229fe22fdcd 20 void go_angle(int angle){ // Move motor to specific angle from home point
cheukming0607 3:1229fe22fdcd 21 int tar_pulse = ((double) angle / 360.0)* (2.0 * 792.0); // Calculating target pulse number
cheukming0607 2:6bc435f4ffec 22 int cur_pulse = dc_motor.getPulses();
cheukming0607 2:6bc435f4ffec 23
cheukming0607 2:6bc435f4ffec 24 while ( tar_pulse != cur_pulse ){
aberk 0:bcff39fac858 25
cheukming0607 3:1229fe22fdcd 26 if (tar_pulse > cur_pulse){ // Rotate motor clockwise
cheukming0607 2:6bc435f4ffec 27 out1 = 1;
cheukming0607 2:6bc435f4ffec 28 out2 = 0;
cheukming0607 2:6bc435f4ffec 29 }
cheukming0607 3:1229fe22fdcd 30 else { // Rotate motor counter clockwrise
cheukming0607 2:6bc435f4ffec 31 out1 = 0;
cheukming0607 2:6bc435f4ffec 32 out2 = 1;
cheukming0607 2:6bc435f4ffec 33 }
cheukming0607 3:1229fe22fdcd 34 cur_pulse = dc_motor.getPulses(); // Get increment encoder current pulse number
cheukming0607 2:6bc435f4ffec 35 }
cheukming0607 3:1229fe22fdcd 36 out1 = 0; // Stop motor
cheukming0607 2:6bc435f4ffec 37 out2 = 0;
cheukming0607 2:6bc435f4ffec 38 };
cheukming0607 2:6bc435f4ffec 39
cheukming0607 3:1229fe22fdcd 40 int main() { // Sample Testing program
cheukming0607 2:6bc435f4ffec 41 reset();
cheukming0607 2:6bc435f4ffec 42 go_angle(90);
cheukming0607 2:6bc435f4ffec 43 wait(1);
cheukming0607 2:6bc435f4ffec 44 go_angle(180);
cheukming0607 2:6bc435f4ffec 45 wait(1);
cheukming0607 2:6bc435f4ffec 46 go_angle(45);
cheukming0607 2:6bc435f4ffec 47 wait(1);
cheukming0607 2:6bc435f4ffec 48 go_angle(30);
cheukming0607 2:6bc435f4ffec 49 wait(1);
cheukming0607 2:6bc435f4ffec 50 go_angle(1);
cheukming0607 2:6bc435f4ffec 51 wait(1);
aberk 0:bcff39fac858 52
cheukming0607 2:6bc435f4ffec 53 }