Callum and Adel's changes on 12/02/19
Dependencies: Crypto
main.cpp@4:1cb32cb438ee, 2019-02-19 (annotated)
- Committer:
- estott
- Date:
- Tue Feb 19 09:19:30 2019 +0000
- Revision:
- 4:1cb32cb438ee
- Parent:
- 3:569b35e2a602
Made a self-test routine for ES CW2
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
estott | 0:de4320f74764 | 1 | #include "mbed.h" |
estott | 0:de4320f74764 | 2 | |
estott | 0:de4320f74764 | 3 | //Photointerrupter input pins |
estott | 4:1cb32cb438ee | 4 | #define I1pin D3 |
estott | 4:1cb32cb438ee | 5 | #define I2pin D6 |
estott | 4:1cb32cb438ee | 6 | #define I3pin D5 |
estott | 2:4e88faab6988 | 7 | |
estott | 2:4e88faab6988 | 8 | //Incremental encoder input pins |
estott | 4:1cb32cb438ee | 9 | #define CHApin D12 |
estott | 4:1cb32cb438ee | 10 | #define CHBpin D11 |
estott | 0:de4320f74764 | 11 | |
estott | 0:de4320f74764 | 12 | //Motor Drive output pins //Mask in output byte |
estott | 4:1cb32cb438ee | 13 | #define L1Lpin D1 //0x01 |
estott | 4:1cb32cb438ee | 14 | #define L1Hpin A3 //0x02 |
estott | 4:1cb32cb438ee | 15 | #define L2Lpin D0 //0x04 |
estott | 4:1cb32cb438ee | 16 | #define L2Hpin A6 //0x08 |
estott | 4:1cb32cb438ee | 17 | #define L3Lpin D10 //0x10 |
estott | 4:1cb32cb438ee | 18 | #define L3Hpin D2 //0x20 |
estott | 4:1cb32cb438ee | 19 | |
estott | 4:1cb32cb438ee | 20 | #define PWMpin D9 |
estott | 4:1cb32cb438ee | 21 | |
estott | 4:1cb32cb438ee | 22 | //Motor current sense |
estott | 4:1cb32cb438ee | 23 | #define MCSPpin A1 |
estott | 4:1cb32cb438ee | 24 | #define MCSNpin A0 |
estott | 0:de4320f74764 | 25 | |
estott | 0:de4320f74764 | 26 | //Mapping from sequential drive states to motor phase outputs |
estott | 0:de4320f74764 | 27 | /* |
estott | 0:de4320f74764 | 28 | State L1 L2 L3 |
estott | 0:de4320f74764 | 29 | 0 H - L |
estott | 0:de4320f74764 | 30 | 1 - H L |
estott | 0:de4320f74764 | 31 | 2 L H - |
estott | 0:de4320f74764 | 32 | 3 L - H |
estott | 0:de4320f74764 | 33 | 4 - L H |
estott | 0:de4320f74764 | 34 | 5 H L - |
estott | 0:de4320f74764 | 35 | 6 - - - |
estott | 0:de4320f74764 | 36 | 7 - - - |
estott | 0:de4320f74764 | 37 | */ |
estott | 0:de4320f74764 | 38 | //Drive state to output table |
estott | 0:de4320f74764 | 39 | const int8_t driveTable[] = {0x12,0x18,0x09,0x21,0x24,0x06,0x00,0x00}; |
estott | 2:4e88faab6988 | 40 | |
estott | 0:de4320f74764 | 41 | //Mapping from interrupter inputs to sequential rotor states. 0x00 and 0x07 are not valid |
estott | 2:4e88faab6988 | 42 | const int8_t stateMap[] = {0x07,0x05,0x03,0x04,0x01,0x00,0x02,0x07}; |
estott | 2:4e88faab6988 | 43 | //const int8_t stateMap[] = {0x07,0x01,0x03,0x02,0x05,0x00,0x04,0x07}; //Alternative if phase order of input or drive is reversed |
estott | 2:4e88faab6988 | 44 | |
estott | 2:4e88faab6988 | 45 | //Phase lead to make motor spin |
estott | 3:569b35e2a602 | 46 | const int8_t lead = 2; //2 for forwards, -2 for backwards |
estott | 0:de4320f74764 | 47 | |
estott | 4:1cb32cb438ee | 48 | const int32_t MIN_CURRENT = 100000; |
estott | 4:1cb32cb438ee | 49 | |
estott | 4:1cb32cb438ee | 50 | const int32_t PWM_PRD = 2000; |
estott | 4:1cb32cb438ee | 51 | |
estott | 4:1cb32cb438ee | 52 | const uint32_t ENC_TEST_REVS = 1000; |
estott | 4:1cb32cb438ee | 53 | |
estott | 4:1cb32cb438ee | 54 | const bool EXT_PWM = true; |
estott | 4:1cb32cb438ee | 55 | |
estott | 4:1cb32cb438ee | 56 | float dc=0.0; |
estott | 4:1cb32cb438ee | 57 | |
estott | 0:de4320f74764 | 58 | //Status LED |
estott | 0:de4320f74764 | 59 | DigitalOut led1(LED1); |
estott | 0:de4320f74764 | 60 | |
estott | 0:de4320f74764 | 61 | //Photointerrupter inputs |
estott | 4:1cb32cb438ee | 62 | InterruptIn I1(I1pin); |
estott | 2:4e88faab6988 | 63 | DigitalIn I2(I2pin); |
estott | 2:4e88faab6988 | 64 | DigitalIn I3(I3pin); |
estott | 0:de4320f74764 | 65 | |
estott | 0:de4320f74764 | 66 | //Motor Drive outputs |
estott | 0:de4320f74764 | 67 | DigitalOut L1L(L1Lpin); |
estott | 4:1cb32cb438ee | 68 | DigitalOut L2L(L2Lpin); |
estott | 4:1cb32cb438ee | 69 | DigitalOut L3L(L3Lpin); |
estott | 0:de4320f74764 | 70 | DigitalOut L1H(L1Hpin); |
estott | 0:de4320f74764 | 71 | DigitalOut L2H(L2Hpin); |
estott | 0:de4320f74764 | 72 | DigitalOut L3H(L3Hpin); |
estott | 0:de4320f74764 | 73 | |
estott | 4:1cb32cb438ee | 74 | AnalogIn MCSP(MCSPpin); |
estott | 4:1cb32cb438ee | 75 | AnalogIn MCSN(MCSNpin); |
estott | 4:1cb32cb438ee | 76 | |
estott | 4:1cb32cb438ee | 77 | PwmOut MotorPWM(PWMpin); |
estott | 4:1cb32cb438ee | 78 | |
estott | 4:1cb32cb438ee | 79 | //Encoder inputs |
estott | 4:1cb32cb438ee | 80 | InterruptIn CHA(CHApin); |
estott | 4:1cb32cb438ee | 81 | InterruptIn CHB(CHBpin); |
estott | 4:1cb32cb438ee | 82 | |
estott | 4:1cb32cb438ee | 83 | //Set a given drive state with PWM |
estott | 4:1cb32cb438ee | 84 | void motorOut(int8_t driveState, float dc){ |
estott | 4:1cb32cb438ee | 85 | |
estott | 4:1cb32cb438ee | 86 | //Lookup the output byte from the drive state. |
estott | 4:1cb32cb438ee | 87 | int8_t driveOut = driveTable[driveState & 0x07]; |
estott | 4:1cb32cb438ee | 88 | int32_t torque = (int)((float)PWM_PRD*dc); |
estott | 4:1cb32cb438ee | 89 | //Turn off first |
estott | 4:1cb32cb438ee | 90 | if (~driveOut & 0x01) L1L = 0; |
estott | 4:1cb32cb438ee | 91 | if (~driveOut & 0x02) L1H = 1; |
estott | 4:1cb32cb438ee | 92 | if (~driveOut & 0x04) L2L = 0; |
estott | 4:1cb32cb438ee | 93 | if (~driveOut & 0x08) L2H = 1; |
estott | 4:1cb32cb438ee | 94 | if (~driveOut & 0x10) L3L = 0; |
estott | 4:1cb32cb438ee | 95 | if (~driveOut & 0x20) L3H = 1; |
estott | 4:1cb32cb438ee | 96 | |
estott | 4:1cb32cb438ee | 97 | //Then turn on |
estott | 4:1cb32cb438ee | 98 | if (driveOut & 0x01) L1L = 1; |
estott | 4:1cb32cb438ee | 99 | if (driveOut & 0x02) L1H = 0; |
estott | 4:1cb32cb438ee | 100 | if (driveOut & 0x04) L2L = 1; |
estott | 4:1cb32cb438ee | 101 | if (driveOut & 0x08) L2H = 0; |
estott | 4:1cb32cb438ee | 102 | if (driveOut & 0x10) L3L = 1; |
estott | 4:1cb32cb438ee | 103 | if (driveOut & 0x20) L3H = 0; |
estott | 4:1cb32cb438ee | 104 | } |
estott | 4:1cb32cb438ee | 105 | |
estott | 4:1cb32cb438ee | 106 | //Set a given drive state with no PWM |
estott | 0:de4320f74764 | 107 | void motorOut(int8_t driveState){ |
estott | 0:de4320f74764 | 108 | |
estott | 2:4e88faab6988 | 109 | //Lookup the output byte from the drive state. |
estott | 2:4e88faab6988 | 110 | int8_t driveOut = driveTable[driveState & 0x07]; |
estott | 2:4e88faab6988 | 111 | |
estott | 2:4e88faab6988 | 112 | //Turn off first |
estott | 2:4e88faab6988 | 113 | if (~driveOut & 0x01) L1L = 0; |
estott | 2:4e88faab6988 | 114 | if (~driveOut & 0x02) L1H = 1; |
estott | 2:4e88faab6988 | 115 | if (~driveOut & 0x04) L2L = 0; |
estott | 2:4e88faab6988 | 116 | if (~driveOut & 0x08) L2H = 1; |
estott | 2:4e88faab6988 | 117 | if (~driveOut & 0x10) L3L = 0; |
estott | 2:4e88faab6988 | 118 | if (~driveOut & 0x20) L3H = 1; |
estott | 4:1cb32cb438ee | 119 | |
estott | 2:4e88faab6988 | 120 | //Then turn on |
estott | 2:4e88faab6988 | 121 | if (driveOut & 0x01) L1L = 1; |
estott | 2:4e88faab6988 | 122 | if (driveOut & 0x02) L1H = 0; |
estott | 2:4e88faab6988 | 123 | if (driveOut & 0x04) L2L = 1; |
estott | 2:4e88faab6988 | 124 | if (driveOut & 0x08) L2H = 0; |
estott | 2:4e88faab6988 | 125 | if (driveOut & 0x10) L3L = 1; |
estott | 2:4e88faab6988 | 126 | if (driveOut & 0x20) L3H = 0; |
estott | 0:de4320f74764 | 127 | } |
estott | 0:de4320f74764 | 128 | |
estott | 2:4e88faab6988 | 129 | //Convert photointerrupter inputs to a rotor state |
estott | 0:de4320f74764 | 130 | inline int8_t readRotorState(){ |
estott | 2:4e88faab6988 | 131 | return stateMap[I1 + 2*I2 + 4*I3]; |
estott | 0:de4320f74764 | 132 | } |
estott | 0:de4320f74764 | 133 | |
estott | 4:1cb32cb438ee | 134 | uint32_t revCount,encCount,maxEncCount,minEncCount,badEdges,maxBadEdges; |
estott | 4:1cb32cb438ee | 135 | uint32_t encState,totalEncCount; |
estott | 4:1cb32cb438ee | 136 | void photoISR() { |
estott | 4:1cb32cb438ee | 137 | |
estott | 4:1cb32cb438ee | 138 | if (encCount > maxEncCount) maxEncCount = encCount; |
estott | 4:1cb32cb438ee | 139 | if (encCount < minEncCount) minEncCount = encCount; |
estott | 4:1cb32cb438ee | 140 | if (badEdges > maxBadEdges) maxBadEdges = badEdges; |
estott | 4:1cb32cb438ee | 141 | |
estott | 4:1cb32cb438ee | 142 | revCount++; |
estott | 4:1cb32cb438ee | 143 | totalEncCount += encCount; |
estott | 4:1cb32cb438ee | 144 | encCount = 0; |
estott | 4:1cb32cb438ee | 145 | badEdges = 0; |
estott | 4:1cb32cb438ee | 146 | } |
estott | 0:de4320f74764 | 147 | |
estott | 4:1cb32cb438ee | 148 | void encISR0() { |
estott | 4:1cb32cb438ee | 149 | if (encState == 3) encCount++; |
estott | 4:1cb32cb438ee | 150 | else badEdges++; |
estott | 4:1cb32cb438ee | 151 | encState = 0; |
estott | 4:1cb32cb438ee | 152 | } |
estott | 4:1cb32cb438ee | 153 | void encISR1() { |
estott | 4:1cb32cb438ee | 154 | if (encState == 0) encCount++; |
estott | 4:1cb32cb438ee | 155 | else badEdges++; |
estott | 4:1cb32cb438ee | 156 | encState = 1; |
estott | 4:1cb32cb438ee | 157 | } |
estott | 4:1cb32cb438ee | 158 | void encISR2() { |
estott | 4:1cb32cb438ee | 159 | if (encState == 1) encCount++; |
estott | 4:1cb32cb438ee | 160 | else badEdges++; |
estott | 4:1cb32cb438ee | 161 | encState = 2; |
estott | 4:1cb32cb438ee | 162 | } |
estott | 4:1cb32cb438ee | 163 | void encISR3() { |
estott | 4:1cb32cb438ee | 164 | if (encState == 2) encCount++; |
estott | 4:1cb32cb438ee | 165 | else badEdges++; |
estott | 4:1cb32cb438ee | 166 | encState = 3; |
estott | 4:1cb32cb438ee | 167 | } |
estott | 4:1cb32cb438ee | 168 | |
estott | 0:de4320f74764 | 169 | |
estott | 0:de4320f74764 | 170 | //Main |
estott | 0:de4320f74764 | 171 | int main() { |
estott | 2:4e88faab6988 | 172 | int8_t orState = 0; //Rotot offset at motor state 0 |
estott | 3:569b35e2a602 | 173 | int8_t intState = 0; |
estott | 3:569b35e2a602 | 174 | int8_t intStateOld = 0; |
estott | 2:4e88faab6988 | 175 | |
estott | 0:de4320f74764 | 176 | //Initialise the serial port |
estott | 4:1cb32cb438ee | 177 | RawSerial pc(USBTX, USBRX); |
estott | 0:de4320f74764 | 178 | pc.printf("Hello\n\r"); |
estott | 0:de4320f74764 | 179 | |
estott | 4:1cb32cb438ee | 180 | MotorPWM.period_us(PWM_PRD); |
estott | 4:1cb32cb438ee | 181 | MotorPWM.pulsewidth_us(PWM_PRD); |
estott | 4:1cb32cb438ee | 182 | |
estott | 4:1cb32cb438ee | 183 | Timer testTimer; |
estott | 4:1cb32cb438ee | 184 | testTimer.start(); |
estott | 4:1cb32cb438ee | 185 | |
estott | 4:1cb32cb438ee | 186 | pc.printf("Testing drive and photointerrupters\n\r"); |
estott | 4:1cb32cb438ee | 187 | |
estott | 4:1cb32cb438ee | 188 | while (testTimer.read_ms() < 1000) {} |
estott | 4:1cb32cb438ee | 189 | |
estott | 4:1cb32cb438ee | 190 | //Cycle through states to catch rotor |
estott | 4:1cb32cb438ee | 191 | for (int i=5;i>=-1;i--) { |
estott | 4:1cb32cb438ee | 192 | motorOut(i); |
estott | 4:1cb32cb438ee | 193 | testTimer.reset(); |
estott | 4:1cb32cb438ee | 194 | while (testTimer.read_ms() < 1000) {} |
estott | 4:1cb32cb438ee | 195 | } |
estott | 4:1cb32cb438ee | 196 | |
estott | 4:1cb32cb438ee | 197 | orState = readRotorState(); |
estott | 4:1cb32cb438ee | 198 | pc.printf("PI origin %d\n\r",orState); |
estott | 4:1cb32cb438ee | 199 | |
estott | 4:1cb32cb438ee | 200 | //Test each state |
estott | 4:1cb32cb438ee | 201 | bool drivePass = true; |
estott | 4:1cb32cb438ee | 202 | bool PIPass = true; |
estott | 4:1cb32cb438ee | 203 | for (int i=0;i<6;i++) { |
estott | 4:1cb32cb438ee | 204 | motorOut(i); |
estott | 4:1cb32cb438ee | 205 | testTimer.reset(); |
estott | 4:1cb32cb438ee | 206 | while (testTimer.read_ms() < 1000) {} |
estott | 4:1cb32cb438ee | 207 | |
estott | 4:1cb32cb438ee | 208 | int32_t motorCurrent = (MCSP.read_u16()-MCSN.read_u16())*56; //Conversion to microamps |
estott | 4:1cb32cb438ee | 209 | printf("Drive State %d: PI input %d, Current %dmA\n\r",i,readRotorState(),motorCurrent/1000); |
estott | 4:1cb32cb438ee | 210 | |
estott | 4:1cb32cb438ee | 211 | int8_t stateOffset = (readRotorState() - i + 6)%6; |
estott | 4:1cb32cb438ee | 212 | if (stateOffset != orState){ |
estott | 4:1cb32cb438ee | 213 | printf(" Unexpected PI input\n\r"); |
estott | 4:1cb32cb438ee | 214 | PIPass = false; |
estott | 4:1cb32cb438ee | 215 | } |
estott | 4:1cb32cb438ee | 216 | if (motorCurrent < MIN_CURRENT){ |
estott | 4:1cb32cb438ee | 217 | printf(" Drive current too low\n\r"); |
estott | 4:1cb32cb438ee | 218 | drivePass = false; |
estott | 4:1cb32cb438ee | 219 | } |
estott | 4:1cb32cb438ee | 220 | |
estott | 4:1cb32cb438ee | 221 | } |
estott | 4:1cb32cb438ee | 222 | if (drivePass == false) { |
estott | 4:1cb32cb438ee | 223 | printf("Motor current fail\n\r"); |
estott | 4:1cb32cb438ee | 224 | while (1) {}} |
estott | 4:1cb32cb438ee | 225 | |
estott | 4:1cb32cb438ee | 226 | if (PIPass == false) { |
estott | 4:1cb32cb438ee | 227 | printf("Disc stuck or PI sensor fault\n\r"); |
estott | 4:1cb32cb438ee | 228 | while (1) {}} |
estott | 4:1cb32cb438ee | 229 | |
estott | 4:1cb32cb438ee | 230 | |
estott | 4:1cb32cb438ee | 231 | printf("Finding maximum velocity\n\r"); |
estott | 4:1cb32cb438ee | 232 | testTimer.reset(); |
estott | 4:1cb32cb438ee | 233 | intStateOld = readRotorState(); |
estott | 4:1cb32cb438ee | 234 | motorOut((readRotorState()-orState+lead+6)%6); //+6 to make sure the remainder is positive |
estott | 4:1cb32cb438ee | 235 | int32_t velCount = 0; |
estott | 4:1cb32cb438ee | 236 | int32_t maxVel = 0; |
estott | 4:1cb32cb438ee | 237 | uint8_t findMax = 1; |
estott | 4:1cb32cb438ee | 238 | |
estott | 4:1cb32cb438ee | 239 | while (findMax){ |
estott | 4:1cb32cb438ee | 240 | intState = readRotorState(); |
estott | 4:1cb32cb438ee | 241 | if (intState != intStateOld) { |
estott | 4:1cb32cb438ee | 242 | intStateOld = intState; |
estott | 4:1cb32cb438ee | 243 | motorOut((intState-orState+lead+6)%6); //+6 to make sure the remainder is positive |
estott | 4:1cb32cb438ee | 244 | if (intState == 0) velCount++; |
estott | 4:1cb32cb438ee | 245 | } |
estott | 4:1cb32cb438ee | 246 | |
estott | 4:1cb32cb438ee | 247 | if (testTimer.read_ms() >= 1000){ |
estott | 4:1cb32cb438ee | 248 | testTimer.reset(); |
estott | 4:1cb32cb438ee | 249 | if (velCount > maxVel) { |
estott | 4:1cb32cb438ee | 250 | maxVel = velCount; |
estott | 4:1cb32cb438ee | 251 | } else { |
estott | 4:1cb32cb438ee | 252 | findMax = 0; |
estott | 4:1cb32cb438ee | 253 | } |
estott | 4:1cb32cb438ee | 254 | velCount = 0; |
estott | 4:1cb32cb438ee | 255 | } |
estott | 4:1cb32cb438ee | 256 | } |
estott | 4:1cb32cb438ee | 257 | |
estott | 4:1cb32cb438ee | 258 | printf("Maximum Velocity %d rps\n\r",maxVel); |
estott | 0:de4320f74764 | 259 | |
estott | 0:de4320f74764 | 260 | //Poll the rotor state and set the motor outputs accordingly to spin the motor |
estott | 4:1cb32cb438ee | 261 | for (dc=1.0; dc>0; dc-= 0.1){ |
estott | 4:1cb32cb438ee | 262 | printf("Testing at %0.1f duty cycle...",dc); |
estott | 4:1cb32cb438ee | 263 | MotorPWM.write(dc); |
estott | 4:1cb32cb438ee | 264 | findMax = 1; |
estott | 4:1cb32cb438ee | 265 | testTimer.reset(); |
estott | 4:1cb32cb438ee | 266 | while (findMax) { |
estott | 4:1cb32cb438ee | 267 | intState = readRotorState(); |
estott | 4:1cb32cb438ee | 268 | if (intState != intStateOld) { |
estott | 4:1cb32cb438ee | 269 | intStateOld = intState; |
estott | 4:1cb32cb438ee | 270 | if (EXT_PWM == false) |
estott | 4:1cb32cb438ee | 271 | motorOut((intState-orState+lead+6)%6,dc); //+6 to make sure the remainder is positive |
estott | 4:1cb32cb438ee | 272 | else |
estott | 4:1cb32cb438ee | 273 | motorOut((intState-orState+lead+6)%6); |
estott | 4:1cb32cb438ee | 274 | if (intState == 0) velCount++; |
estott | 4:1cb32cb438ee | 275 | } |
estott | 4:1cb32cb438ee | 276 | |
estott | 4:1cb32cb438ee | 277 | if (testTimer.read_ms() >= 1000){ |
estott | 4:1cb32cb438ee | 278 | testTimer.reset(); |
estott | 4:1cb32cb438ee | 279 | if (velCount < maxVel) { |
estott | 4:1cb32cb438ee | 280 | maxVel = velCount; |
estott | 4:1cb32cb438ee | 281 | } else { |
estott | 4:1cb32cb438ee | 282 | findMax = 0; |
estott | 4:1cb32cb438ee | 283 | } |
estott | 4:1cb32cb438ee | 284 | velCount = 0; |
estott | 4:1cb32cb438ee | 285 | } |
estott | 4:1cb32cb438ee | 286 | } |
estott | 4:1cb32cb438ee | 287 | printf("%d rps\n\r",maxVel); |
estott | 4:1cb32cb438ee | 288 | if (maxVel == 0) dc = 0.0; |
estott | 4:1cb32cb438ee | 289 | } |
estott | 4:1cb32cb438ee | 290 | |
estott | 4:1cb32cb438ee | 291 | |
estott | 4:1cb32cb438ee | 292 | //Test encoder |
estott | 4:1cb32cb438ee | 293 | |
estott | 4:1cb32cb438ee | 294 | dc=0.5; |
estott | 4:1cb32cb438ee | 295 | printf("Testing encoder. Duty cycle = %0.1f\n\r",dc); |
estott | 4:1cb32cb438ee | 296 | MotorPWM.write(dc); |
estott | 4:1cb32cb438ee | 297 | |
estott | 4:1cb32cb438ee | 298 | revCount = 0; |
estott | 4:1cb32cb438ee | 299 | |
estott | 4:1cb32cb438ee | 300 | I1.rise(&photoISR); |
estott | 4:1cb32cb438ee | 301 | CHA.rise(&encISR0); |
estott | 4:1cb32cb438ee | 302 | CHB.rise(&encISR1); |
estott | 4:1cb32cb438ee | 303 | CHA.fall(&encISR2); |
estott | 4:1cb32cb438ee | 304 | CHB.fall(&encISR3); |
estott | 4:1cb32cb438ee | 305 | |
estott | 4:1cb32cb438ee | 306 | motorOut((readRotorState()-orState+lead+6)%6); //+6 to make sure the remainder is positive |
estott | 4:1cb32cb438ee | 307 | |
estott | 4:1cb32cb438ee | 308 | while (revCount < 1000) { |
estott | 4:1cb32cb438ee | 309 | intState = readRotorState(); |
estott | 4:1cb32cb438ee | 310 | if (intState != intStateOld) { |
estott | 4:1cb32cb438ee | 311 | intStateOld = intState; |
estott | 4:1cb32cb438ee | 312 | motorOut((intState-orState+lead+6)%6); |
estott | 4:1cb32cb438ee | 313 | } |
estott | 4:1cb32cb438ee | 314 | } |
estott | 4:1cb32cb438ee | 315 | |
estott | 4:1cb32cb438ee | 316 | maxEncCount = 0; |
estott | 4:1cb32cb438ee | 317 | minEncCount = -1; |
estott | 4:1cb32cb438ee | 318 | maxBadEdges = 0; |
estott | 4:1cb32cb438ee | 319 | revCount = 0; |
estott | 4:1cb32cb438ee | 320 | totalEncCount = 0; |
estott | 4:1cb32cb438ee | 321 | |
estott | 4:1cb32cb438ee | 322 | while (revCount < ENC_TEST_REVS) { |
estott | 4:1cb32cb438ee | 323 | intState = readRotorState(); |
estott | 4:1cb32cb438ee | 324 | if (intState != intStateOld) { |
estott | 4:1cb32cb438ee | 325 | intStateOld = intState; |
estott | 4:1cb32cb438ee | 326 | motorOut((intState-orState+lead+6)%6); |
estott | 4:1cb32cb438ee | 327 | } |
estott | 4:1cb32cb438ee | 328 | } |
estott | 4:1cb32cb438ee | 329 | |
estott | 4:1cb32cb438ee | 330 | I1.rise(NULL); |
estott | 4:1cb32cb438ee | 331 | printf("Min, Mean, Max encoder count = %d, %d, %d\n\r",minEncCount,totalEncCount/ENC_TEST_REVS,maxEncCount); |
estott | 4:1cb32cb438ee | 332 | printf("Max bad transitions = %d\n\r",maxBadEdges); |
estott | 4:1cb32cb438ee | 333 | |
estott | 1:184cb0870c04 | 334 | while (1) { |
estott | 2:4e88faab6988 | 335 | intState = readRotorState(); |
estott | 2:4e88faab6988 | 336 | if (intState != intStateOld) { |
estott | 2:4e88faab6988 | 337 | intStateOld = intState; |
estott | 4:1cb32cb438ee | 338 | motorOut((intState-orState+lead+6)%6); |
estott | 0:de4320f74764 | 339 | } |
estott | 2:4e88faab6988 | 340 | } |
estott | 4:1cb32cb438ee | 341 | |
estott | 0:de4320f74764 | 342 | } |
estott | 0:de4320f74764 | 343 |