STM32 / Mbed 2 deprecated Nucleo_read_analog_value

program 1 driver

Dependencies:   mbed motorController2

main.cpp@2:50b081df251a, 2016-12-04 (annotated)

Committer:
BalB
Date:
Sun Dec 04 16:15:40 2016 +0000
Revision:
2:50b081df251a
Parent:
1:3370c513ff5c
Child:
3:e3b61eb0590b
first program controlling 1 driver

Who changed what in which revision?

UserRevisionLine numberNew contents of line
BalB 0:1d2060237094 1 #include "mbed.h"
BalB 1:3370c513ff5c 2 #include "AccelStepper.h"
BalB 1:3370c513ff5c 3 #include "math.h"
BalB 0:1d2060237094 4
BalB 0:1d2060237094 5 //
BalB 0:1d2060237094 6 // By BalB
BalB 0:1d2060237094 7 //
BalB 0:1d2060237094 8 #include "mbed.h"
BalB 0:1d2060237094 9 AnalogIn top_left(A0); // Analog InPut
BalB 0:1d2060237094 10 AnalogIn top_right(A1); // Analog InPut
BalB 0:1d2060237094 11 AnalogIn bot_left(A2); // Analog InPut
BalB 0:1d2060237094 12 AnalogIn bot_right(A3); // Analog InPut
BalB 1:3370c513ff5c 13 AccelStepper stepper1(1 , PA_10, PB_3); //(mode DRIVER, pin1, pin2) STEPPER DE DENTRO DE LA MAQUINA (STEPS DE 1.8)
BalB 1:3370c513ff5c 14 AccelStepper stepper2(1 , PB_5, PB_4); //(mode DRIVER, pin1, pin2) STEPPER DE FUERA (EL QUE TIENE ENGRANAJES Y STEPS DE 0.6)
BalB 1:3370c513ff5c 15 const float stp1 = 1.8;
BalB 1:3370c513ff5c 16 const float stp2 =0.6;
BalB 1:3370c513ff5c 17 const int range1 = 32;
BalB 1:3370c513ff5c 18 const int range2 = 32;
BalB 1:3370c513ff5c 19 const float micro_steps1 = 1/(stp1/range1);//sale que hara 18 steps
BalB 1:3370c513ff5c 20 const float micro_steps2 = 1/(stp2/range2);//saln que hara 53 steps
BalB 1:3370c513ff5c 21
BalB 0:1d2060237094 22
BalB 2:50b081df251a 23 const int N =100; //Number of measures x position
BalB 2:50b081df251a 24
BalB 2:50b081df251a 25
BalB 0:1d2060237094 26
BalB 0:1d2060237094 27 DigitalOut myled(LED1); // Digital OutPut
BalB 0:1d2060237094 28 Serial pc(SERIAL_TX, SERIAL_RX); // Default USART is: 8N1 NO FlowControl
BalB 1:3370c513ff5c 29
BalB 1:3370c513ff5c 30
BalB 0:1d2060237094 31 // Variables --------------------------------------------------------------
BalB 1:3370c513ff5c 32 uint16_t measTL = 0;
BalB 1:3370c513ff5c 33 uint16_t measTR = 0;
BalB 1:3370c513ff5c 34 uint16_t measBL = 0;
BalB 1:3370c513ff5c 35 uint16_t measBR = 0;
BalB 2:50b081df251a 36 int i=0; //iterator 1
BalB 2:50b081df251a 37 int j=0; //iteerator 2
BalB 2:50b081df251a 38
BalB 1:3370c513ff5c 39 char choice;
BalB 2:50b081df251a 40 int pos2;
BalB 2:50b081df251a 41
BalB 2:50b081df251a 42 int mitja_esquerra_adalt= 0; //Average of measures of PH
BalB 2:50b081df251a 43 int mitja_dreta_adalt=0; //Average of measures of PH
BalB 2:50b081df251a 44 int mitja_esquerra_abaix=0; //Average of measures of PH
BalB 2:50b081df251a 45 int mitja_dreta_abaix = 0; //Average of measures of PH
BalB 2:50b081df251a 46
BalB 2:50b081df251a 47 int val_top_left [N]= {0}; //instantaneous value of measure of PH
BalB 2:50b081df251a 48 int val_top_right [N]= {0}; //instantaneous value of measure of PH
BalB 2:50b081df251a 49 int val_bot_left [N]= {0}; //instantaneous value of measure of PH
BalB 2:50b081df251a 50 int val_bot_right [N]= {0}; //instantaneous value of measure of PH
BalB 2:50b081df251a 51
BalB 2:50b081df251a 52 double sum_top_left= 0; //sumatory of measures of PH
BalB 2:50b081df251a 53 double sum_top_right= 0; //sumatory of measures of PH
BalB 2:50b081df251a 54 double sum_bot_left= 0; //sumatory of measures of PH
BalB 2:50b081df251a 55 double sum_bot_right= 0; //sumatory of measures of PH
BalB 2:50b081df251a 56
BalB 2:50b081df251a 57 double sum_var_top_left=0;
BalB 2:50b081df251a 58 double sum_var_top_right=0;
BalB 2:50b081df251a 59 double sum_var_bot_left=0;
BalB 2:50b081df251a 60 double sum_var_bot_right=0;
BalB 2:50b081df251a 61
BalB 2:50b081df251a 62 int val_var_top_left=0; //Variance Value for this PH
BalB 2:50b081df251a 63 int val_var_top_right=0; //Variance Value for this PH
BalB 2:50b081df251a 64 int val_var_bot_left=0; //Variance Value for this PH
BalB 2:50b081df251a 65 int val_var_bot_right=0; //Variance Value for this PH
BalB 2:50b081df251a 66
BalB 2:50b081df251a 67
BalB 2:50b081df251a 68
BalB 2:50b081df251a 69
BalB 1:3370c513ff5c 70
BalB 0:1d2060237094 71 //DigitalOut led(LED1);
BalB 0:1d2060237094 72
BalB 0:1d2060237094 73
BalB 0:1d2060237094 74 // ATTENTION
BalB 0:1d2060237094 75 // The two value below, must be changed in according to the Vcc and ADC
BalB 0:1d2060237094 76 // resolution
BalB 0:1d2060237094 77 float_t Valim = 3300; // This is the supplay voltage of ADC (or MCU)
BalB 0:1d2060237094 78 float_t ADCres = 4096; // This is the ADC resolution that in this case si 12Bit
BalB 0:1d2060237094 79 // All NUCLEO boards use an ADC with 12bit resolution
BalB 0:1d2060237094 80
BalB 0:1d2060237094 81 int main()
BalB 0:1d2060237094 82 {
BalB 0:1d2060237094 83 pc.printf("\n\r\n\rSTART program\n\r");
BalB 1:3370c513ff5c 84 stepper1.setSpeed(50);
BalB 1:3370c513ff5c 85 stepper1.setAcceleration(5000);
BalB 1:3370c513ff5c 86 stepper1.setCurrentPosition(0);
BalB 1:3370c513ff5c 87 stepper2.setSpeed(50);
BalB 1:3370c513ff5c 88 stepper2.setAcceleration(5000);
BalB 1:3370c513ff5c 89 stepper2.setCurrentPosition(0);
BalB 0:1d2060237094 90 while(1)
BalB 1:3370c513ff5c 91 {
BalB 1:3370c513ff5c 92 if(i==0)
BalB 1:3370c513ff5c 93 {
BalB 1:3370c513ff5c 94 pc.printf("Que vols fer, anar seguent grau?? (1)...Retrocedir ?? (2)");
BalB 1:3370c513ff5c 95 while(!pc.readable());
BalB 1:3370c513ff5c 96 choice=pc.getc();
BalB 1:3370c513ff5c 97 pc.printf("char= %d" ,choice-48);
BalB 1:3370c513ff5c 98 pc.printf(" ha leido");
BalB 1:3370c513ff5c 99 stepper2.moveTo(rint(-60*micro_steps2));//moveTo Sets target position
BalB 1:3370c513ff5c 100 stepper2.runToPosition();//Gives the order to go to that target position
BalB 1:3370c513ff5c 101 wait_ms(1500);
BalB 1:3370c513ff5c 102 }
BalB 2:50b081df251a 103 pos2=rint(micro_steps2*(i-60));
BalB 2:50b081df251a 104 stepper2.moveTo(pos2);//moveTo Sets target position
BalB 2:50b081df251a 105 stepper2.runToPosition();//Gives the order to go to that target position
BalB 2:50b081df251a 106 wait_ms(1000);
BalB 2:50b081df251a 107
BalB 2:50b081df251a 108 sum_top_left=0;
BalB 2:50b081df251a 109 sum_top_right=0;
BalB 2:50b081df251a 110 sum_bot_left=0;
BalB 2:50b081df251a 111 sum_bot_right=0;
BalB 2:50b081df251a 112
BalB 2:50b081df251a 113 sum_var_top_left=0;
BalB 2:50b081df251a 114 sum_var_top_right=0;
BalB 2:50b081df251a 115 sum_var_bot_left=0;
BalB 2:50b081df251a 116 sum_var_bot_right=0;
BalB 2:50b081df251a 117
BalB 2:50b081df251a 118 while(j<N)
BalB 2:50b081df251a 119 {
BalB 2:50b081df251a 120 val_top_left[j]=top_left.read_u16(); //Taking N measures
BalB 2:50b081df251a 121 val_top_right[j]=top_right.read_u16(); //Taking N measures
BalB 2:50b081df251a 122 val_bot_left[j]=bot_left.read_u16(); //Taking N measures
BalB 2:50b081df251a 123 val_bot_right[j]=bot_right.read_u16(); //Taking N measures
BalB 2:50b081df251a 124
BalB 2:50b081df251a 125
BalB 2:50b081df251a 126
BalB 2:50b081df251a 127 sum_top_left = sum_top_left + val_top_left[j]; //Making the sum of the measure for each PH
BalB 2:50b081df251a 128 sum_top_right = sum_top_right + val_top_right[j]; //Making the sum of the measure for each PH
BalB 2:50b081df251a 129 sum_bot_left = sum_bot_left + val_bot_left[j]; //Making the sum of the measure for each PH
BalB 2:50b081df251a 130 sum_bot_right = sum_bot_right + val_bot_right[j]; //Making the sum of the measure for each PH
BalB 2:50b081df251a 131
BalB 2:50b081df251a 132 j++;
BalB 2:50b081df251a 133
BalB 2:50b081df251a 134 }
BalB 2:50b081df251a 135
BalB 2:50b081df251a 136 mitja_esquerra_adalt=double(rint((sum_top_left/N))); //Computiong the average
BalB 2:50b081df251a 137 mitja_dreta_adalt=double(rint((sum_top_right/N))); //Computiong the average
BalB 2:50b081df251a 138 mitja_esquerra_abaix=double(rint((sum_bot_left/N))); //Computiong the average
BalB 2:50b081df251a 139 mitja_dreta_abaix=double(rint((sum_bot_right/N))); //Computiong the average
BalB 2:50b081df251a 140
BalB 2:50b081df251a 141 for (j=0;j<N;j++)
BalB 2:50b081df251a 142 {
BalB 2:50b081df251a 143 sum_var_top_left= ((val_top_left[j]-mitja_esquerra_adalt)*(val_top_left[j]-mitja_esquerra_adalt)) + sum_var_top_left; //Variance for each measure
BalB 2:50b081df251a 144 sum_var_top_right= ((val_top_right[j]-mitja_dreta_adalt)*(val_top_right[j]-mitja_dreta_adalt)) + sum_var_top_right; //Variance for each measure
BalB 2:50b081df251a 145 sum_var_bot_left= ((val_bot_left[j]-mitja_esquerra_abaix)*(val_bot_left[j]-mitja_esquerra_abaix)) + sum_var_bot_left; //Variance for each measure
BalB 2:50b081df251a 146 sum_var_bot_right= ((val_bot_right[j]-mitja_dreta_abaix)*(val_bot_right[j]-mitja_dreta_abaix)) + sum_var_bot_right; //Variance for each measure
BalB 2:50b081df251a 147
BalB 2:50b081df251a 148 }
BalB 2:50b081df251a 149 val_var_top_left=double(rint(sqrt(sum_var_top_left/N))); //Obtaining Variance Value for this PH
BalB 2:50b081df251a 150 val_var_top_right=double(rint(sqrt(sum_var_top_right/N))); //Obtaining Variance Value for this PH
BalB 2:50b081df251a 151 val_var_bot_left=double(rint(sqrt(sum_var_bot_left/N))); //Obtaining Variance Value for this PH
BalB 2:50b081df251a 152 val_var_bot_right=double(rint(sqrt(sum_var_bot_right/N))); //Obtaining Variance Value for this PH
BalB 2:50b081df251a 153
BalB 2:50b081df251a 154
BalB 2:50b081df251a 155 //QUEDA PRINTEJAR RESULTATS
BalB 2:50b081df251a 156
BalB 2:50b081df251a 157 if(i==121)
BalB 2:50b081df251a 158 {
BalB 2:50b081df251a 159 i=0;
BalB 2:50b081df251a 160 stepper2.moveTo (-60*micro_steps2);
BalB 2:50b081df251a 161 stepper2.runToPosition();
BalB 2:50b081df251a 162
BalB 2:50b081df251a 163 }
BalB 2:50b081df251a 164 else if(i!=121)
BalB 2:50b081df251a 165 {
BalB 2:50b081df251a 166 i++;
BalB 2:50b081df251a 167 }
BalB 2:50b081df251a 168 /*
BalB 2:50b081df251a 169
BalB 0:1d2060237094 170 // Read the analog input value
BalB 0:1d2060237094 171 measTL = top_left.read_u16();
BalB 0:1d2060237094 172 measTR = top_right.read_u16();
BalB 0:1d2060237094 173 measBL = bot_left.read_u16();
BalB 0:1d2060237094 174 measBR = bot_right.read_u16();
BalB 0:1d2060237094 175
BalB 0:1d2060237094 176 // Display the result via Virtual COM
BalB 0:1d2060237094 177 pc.printf("TOP_LEFT == %d || TOP_RIGHT == %d || BOT_LEFT == %d || BOT_RIGHT == %d ", measTL, measTR , measBL, measBR);
BalB 0:1d2060237094 178
BalB 1:3370c513ff5c 179 wait_ms(800); // 800 ms
BalB 2:50b081df251a 180 */
BalB 2:50b081df251a 181
BalB 2:50b081df251a 182
BalB 0:1d2060237094 183 }
BalB 0:1d2060237094 184 }
BalB 0:1d2060237094 185