Robot Bachelor
Engine control program with 3 engines Needs to make a case for each simultaneous engine setting, because of the WAIT after each number of bits have been sent.
Dependencies: mbed-rtos mbed PinDetect
Fork of
FinalMotorControl
by 
Robot Bachelor
Revision 30:fac5b5624fe3, committed 2016-07-07
- Comitter:
- mjhaugsdal
- Date:
- Thu Jul 07 11:13:35 2016 +0000
- Parent:
- 29:00f839aad30e
- Commit message:
- 07072016
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Thu Jul 07 08:53:21 2016 +0000
+++ b/main.cpp Thu Jul 07 11:13:35 2016 +0000
@@ -37,17 +37,16 @@
DigitalIn SW(USER_BUTTON);
-static int speed = 1750;
-static int bootStep1 = 100;
-static int bootStep2 = 100;
-static int bootStep3 = 100;
+static int speed = 1000;
+
static char m_cmd = 'x';
static char cmd;
static bool e1 = true;
static bool e2 = true;
static bool e3 = true;
-static bool rest = false;
-static int i = 0;
+static int i1 = 0;
+static int i2 = 0;
+static int i3 = 0;
static int steps1 = 0;
static int steps2 = 0;
@@ -455,36 +454,20 @@
}
Thread::wait(100);
//pc.printf("%d", steps);
- /*
- if (m_cmd == 'x')
- {
- while(speed < 7000)
- {
- //Thread::wait(1);
- speed ++;
- }
- speed = 2000;
- cmd = 'x';
- break;
- }
- */
-
-
-
+ pc.printf("%c", m_cmd);
}
}
-
//MOTOR 1 LEFT SIDE BUTTON
void pb1_hit_callback (void)
{
- if(rest == false)
- {
+
e1 = false;
speed = 1000;
- Thread::wait(1000);
- int stepsToCenter = i/2;
+
+ wait(2);
+ int stepsToCenter = i1/2;
while (stepsToCenter >= 0)
{
@@ -495,20 +478,20 @@
//break;
//end if
m_cmd = 'x';
- }
+
}
//MOTOR 1 RIGHT SIDE BUTTON
void pb2_hit_callback (void)
{
- if(rest == false)
- {
+
e1 = false;
//m_cmd = 'x';
speed = 1000;
- Thread::wait(1000);
- int stepsToCenter = i/2;
+
+ wait(2);
+ int stepsToCenter = i1/2;
while (stepsToCenter >= 0)
{
@@ -517,18 +500,20 @@
}
steps1 = 0;
m_cmd = 'x';
- }
}
+
+
+
//MOTOR 2 LEFT SIDE BUTTON
void pb3_hit_callback (void)
{
- if(rest == false)
+
{
e2 = false;
//m_cmd = 'x';
speed = 1000;
- Thread::wait(1000);
- int stepsToCenter = i/2;
+ wait(1);
+ int stepsToCenter = i2/2;
while (stepsToCenter >= 0)
{
@@ -536,7 +521,8 @@
stepsToCenter --;
}
steps2 = 0;
- m_cmd = 'x';
+ //m_cmd = 'x';
+ stopE2();
}
}
@@ -544,13 +530,13 @@
//MOTOR 2 RIGHT SIDE BUTTON
void pb4_hit_callback (void)
{
- if(rest == false)
+
{
e2 = false;
//m_cmd = 'x';
speed = 1000;
- Thread::wait(1000);
- int stepsToCenter = i/2;
+ wait(1);
+ int stepsToCenter = i2/2;
while (stepsToCenter >= 0)
{
@@ -558,98 +544,97 @@
stepsToCenter --;
}
steps2 = 0;
- m_cmd = 'x';
+ //m_cmd = 'x';
+ stopE2();
}
}
+
//MOTOR 3 LEFT SIDE BUTTON
void pb5_hit_callback (void)
{
- if(rest == false)
- {
+
e3 = false;
//m_cmd = 'x';
speed = 1000;
- Thread::wait(1000);
- int stepsToCenter = i/2;
+ wait(1);
+ int stepsToCenter = i3/2;
while (stepsToCenter >= 0)
{
+ if(stepsToCenter < i3/10)
+ speed = 1500;
+
stepEngine3Left();
stepsToCenter --;
}
steps3 = 0;
m_cmd = 'x';
- }
-
}
//MOTOR 3 RIGHT SIDE BUTTON
void pb6_hit_callback (void)
{
- if(rest == false)
- {
+
e3 = false;
//m_cmd = 'x';
speed = 1000;
- Thread::wait(1000);
- int stepsToCenter = i/2;
+ wait(1);
+ int stepsToCenter = i3/2;
while (stepsToCenter >= 0)
{
+ if(stepsToCenter < i3/10)
+ speed = 1500;
+
stepEngine3Right();
stepsToCenter --;
}
//reset steps and stop engine
steps3 = 0;
m_cmd = 'x';
- }
+
}
int main()
{
- int slowDown;
-
pb1.mode(PullUp);
pb2.mode(PullUp);
pb3.mode(PullUp);
pb4.mode(PullUp);
pb5.mode(PullUp);
pb6.mode(PullUp);
-
+
//Set up buttons 1 and 2
pb1.attach_deasserted(&pb1_hit_callback);
pb1.setSampleFrequency();
pb2.attach_deasserted(&pb2_hit_callback);
- pb2.setSampleFrequency();
+ pb2.setSampleFrequency();
+
//Thread 1 has constant feed from usb
Thread t1(input);
//static char global_direction;
printf("Started");
- // Move motor in one direction
+
while (true)
{
-/*
- while(bootStep1 >= 0)
- {
- bootStep1--;
- stepEngine1Right();
- } */
+
stepEngine1Left();
if (e1 == false)
{
+ Thread::wait(2000);
e1 = true;
while(true)
{
stepEngine1Right();
- i++;
+ i1++;
if(e1 == false)
break;
@@ -659,7 +644,9 @@
break;
}//end if
- }//end while
+ }//end while
+
+
//Set up buttons 3 and 4
pb3.attach_deasserted(&pb3_hit_callback);
@@ -686,7 +673,7 @@
{
stepEngine2Right();
- i++;
+ i2++;
if(e2 == false)
break;
@@ -697,19 +684,14 @@
}//end if
}
+
+
pb5.attach_deasserted(&pb5_hit_callback);
pb5.setSampleFrequency();
pb6.attach_deasserted(&pb6_hit_callback);
pb6.setSampleFrequency();
while (true)
{
- //speed = 2000;
- /* while(bootStep3 >= 0)
- {
- bootStep3--;
- stepEngine3Right();
-
- } */
stepEngine3Left();
if (e3 == false)
{
@@ -718,13 +700,13 @@
{
stepEngine3Right();
- i++;
+ i3++;
if(e3 == false)
break;
}
//pc.printf("HALLO");
- m_cmd = 'z';
+ //m_cmd = 'z';
Thread::wait(1000);
break;
}//end if
@@ -735,7 +717,7 @@
{
//user button to turn off engines
- if(SW==1)
+ if(SW==0)
{
//put engines to sleep
m_cmd ='z';
@@ -845,11 +827,12 @@
}
*/
+ /*
//Controlling each motor seperately.
//ENGINE 3
if(cmd == '7' && steps3 > -200)
{
- rest = false;
+
steps3 --;
stepEngine3Left();
@@ -857,38 +840,80 @@
}
else if (cmd == '9' && steps3 < 280)
{
- rest = false;
+
stepEngine3Right();
steps3 ++;
}
//ENGINE 2
else if (cmd == '4' && steps2 > -242)
{
- rest = false;
+
steps2 --;
stepEngine2Left();
}
else if (cmd == '6' && steps2 < 242)
{
- rest = false;
+
steps2 ++;
stepEngine2Right();
}
//ENGINE 3
else if (cmd == '1' && steps1 > -242)
{
- rest = false;
+
steps1--;
stepEngine1Left();
}
else if (cmd == '3' && steps1 < 242)
{
- rest = false;
+
+ steps1++;
+ stepEngine1Right();
+ }
+ */
+
+ if(cmd == '7')
+ {
+
+
+ steps3 --;
+ stepEngine3Left();
+
+ }
+ else if (cmd == '9')
+ {
+
+ stepEngine3Right();
+ steps3 ++;
+ }
+ //ENGINE 2
+ else if (cmd == '4')
+ {
+
+ steps2 --;
+ stepEngine2Left();
+ }
+ else if (cmd == '6')
+ {
+
+ steps2 ++;
+ stepEngine2Right();
+ }
+ //ENGINE 3
+ else if (cmd == '1')
+ {
+
+ steps1--;
+ stepEngine1Left();
+ }
+ else if (cmd == '3')
+ {
+
steps1++;
stepEngine1Right();
}
- if (m_cmd == 'y')
+ if (cmd == 'y')
{
int step = 100;
while (step >= 0)
@@ -900,7 +925,7 @@
}
- if (m_cmd == 't')
+ if (cmd == 't')
{
int step1, step2, step3;
step1 = 100;