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First Commit
Dependencies: mbed Crypto_light mbed-rtos
Spin it 2 win it
main.cpp@0:88c3d6c8a4eb, 2018-03-11 (annotated)
- Committer:
- TrebleStick
- Date:
- Sun Mar 11 17:26:02 2018 +0000
- Revision:
- 0:88c3d6c8a4eb
- Child:
- 1:a530f6235850
Henlo?
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
TrebleStick | 0:88c3d6c8a4eb | 1 | #include "mbed.h" |
TrebleStick | 0:88c3d6c8a4eb | 2 | |
TrebleStick | 0:88c3d6c8a4eb | 3 | //Photointerrupter input pins |
TrebleStick | 0:88c3d6c8a4eb | 4 | #define I1pin D2 |
TrebleStick | 0:88c3d6c8a4eb | 5 | #define I2pin D11 |
TrebleStick | 0:88c3d6c8a4eb | 6 | #define I3pin D12 |
TrebleStick | 0:88c3d6c8a4eb | 7 | |
TrebleStick | 0:88c3d6c8a4eb | 8 | //Incremental encoder input pins |
TrebleStick | 0:88c3d6c8a4eb | 9 | #define CHA D7 |
TrebleStick | 0:88c3d6c8a4eb | 10 | #define CHB D8 |
TrebleStick | 0:88c3d6c8a4eb | 11 | |
TrebleStick | 0:88c3d6c8a4eb | 12 | //Motor Drive output pins //Mask in output byte |
TrebleStick | 0:88c3d6c8a4eb | 13 | #define L1Lpin D4 //0x01 |
TrebleStick | 0:88c3d6c8a4eb | 14 | #define L1Hpin D5 //0x02 |
TrebleStick | 0:88c3d6c8a4eb | 15 | #define L2Lpin D3 //0x04 |
TrebleStick | 0:88c3d6c8a4eb | 16 | #define L2Hpin D6 //0x08 |
TrebleStick | 0:88c3d6c8a4eb | 17 | #define L3Lpin D9 //0x10 |
TrebleStick | 0:88c3d6c8a4eb | 18 | #define L3Hpin D10 //0x20 |
TrebleStick | 0:88c3d6c8a4eb | 19 | |
TrebleStick | 0:88c3d6c8a4eb | 20 | //Mapping from sequential drive states to motor phase outputs |
TrebleStick | 0:88c3d6c8a4eb | 21 | /* |
TrebleStick | 0:88c3d6c8a4eb | 22 | State L1 L2 L3 |
TrebleStick | 0:88c3d6c8a4eb | 23 | 0 H - L |
TrebleStick | 0:88c3d6c8a4eb | 24 | 1 - H L |
TrebleStick | 0:88c3d6c8a4eb | 25 | 2 L H - |
TrebleStick | 0:88c3d6c8a4eb | 26 | 3 L - H |
TrebleStick | 0:88c3d6c8a4eb | 27 | 4 - L H |
TrebleStick | 0:88c3d6c8a4eb | 28 | 5 H L - |
TrebleStick | 0:88c3d6c8a4eb | 29 | 6 - - - |
TrebleStick | 0:88c3d6c8a4eb | 30 | 7 - - - |
TrebleStick | 0:88c3d6c8a4eb | 31 | */ |
TrebleStick | 0:88c3d6c8a4eb | 32 | //Drive state to output table |
TrebleStick | 0:88c3d6c8a4eb | 33 | const int8_t driveTable[] = {0x12,0x18,0x09,0x21,0x24,0x06,0x00,0x00}; |
TrebleStick | 0:88c3d6c8a4eb | 34 | |
TrebleStick | 0:88c3d6c8a4eb | 35 | //Mapping from interrupter inputs to sequential rotor states. 0x00 and 0x07 are not valid |
TrebleStick | 0:88c3d6c8a4eb | 36 | const int8_t stateMap[] = {0x07,0x05,0x03,0x04,0x01,0x00,0x02,0x07}; |
TrebleStick | 0:88c3d6c8a4eb | 37 | //const int8_t stateMap[] = {0x07,0x01,0x03,0x02,0x05,0x00,0x04,0x07}; //Alternative if phase order of input or drive is reversed |
TrebleStick | 0:88c3d6c8a4eb | 38 | |
TrebleStick | 0:88c3d6c8a4eb | 39 | //Phase lead to make motor spin |
TrebleStick | 0:88c3d6c8a4eb | 40 | const int8_t lead = 2; //2 for forwards, -2 for backwards |
TrebleStick | 0:88c3d6c8a4eb | 41 | |
TrebleStick | 0:88c3d6c8a4eb | 42 | //Status LED |
TrebleStick | 0:88c3d6c8a4eb | 43 | DigitalOut led1(LED1); |
TrebleStick | 0:88c3d6c8a4eb | 44 | |
TrebleStick | 0:88c3d6c8a4eb | 45 | //Photointerrupter inputs |
TrebleStick | 0:88c3d6c8a4eb | 46 | DigitalIn I1(I1pin); |
TrebleStick | 0:88c3d6c8a4eb | 47 | DigitalIn I2(I2pin); |
TrebleStick | 0:88c3d6c8a4eb | 48 | DigitalIn I3(I3pin); |
TrebleStick | 0:88c3d6c8a4eb | 49 | |
TrebleStick | 0:88c3d6c8a4eb | 50 | //Motor Drive outputs |
TrebleStick | 0:88c3d6c8a4eb | 51 | DigitalOut L1L(L1Lpin); |
TrebleStick | 0:88c3d6c8a4eb | 52 | DigitalOut L1H(L1Hpin); |
TrebleStick | 0:88c3d6c8a4eb | 53 | DigitalOut L2L(L2Lpin); |
TrebleStick | 0:88c3d6c8a4eb | 54 | DigitalOut L2H(L2Hpin); |
TrebleStick | 0:88c3d6c8a4eb | 55 | DigitalOut L3L(L3Lpin); |
TrebleStick | 0:88c3d6c8a4eb | 56 | DigitalOut L3H(L3Hpin); |
TrebleStick | 0:88c3d6c8a4eb | 57 | |
TrebleStick | 0:88c3d6c8a4eb | 58 | //Set a given drive state |
TrebleStick | 0:88c3d6c8a4eb | 59 | void motorOut(int8_t driveState){ |
TrebleStick | 0:88c3d6c8a4eb | 60 | |
TrebleStick | 0:88c3d6c8a4eb | 61 | //Lookup the output byte from the drive state. |
TrebleStick | 0:88c3d6c8a4eb | 62 | int8_t driveOut = driveTable[driveState & 0x07]; |
TrebleStick | 0:88c3d6c8a4eb | 63 | |
TrebleStick | 0:88c3d6c8a4eb | 64 | //Turn off first |
TrebleStick | 0:88c3d6c8a4eb | 65 | if (~driveOut & 0x01) L1L = 0; |
TrebleStick | 0:88c3d6c8a4eb | 66 | if (~driveOut & 0x02) L1H = 1; |
TrebleStick | 0:88c3d6c8a4eb | 67 | if (~driveOut & 0x04) L2L = 0; |
TrebleStick | 0:88c3d6c8a4eb | 68 | if (~driveOut & 0x08) L2H = 1; |
TrebleStick | 0:88c3d6c8a4eb | 69 | if (~driveOut & 0x10) L3L = 0; |
TrebleStick | 0:88c3d6c8a4eb | 70 | if (~driveOut & 0x20) L3H = 1; |
TrebleStick | 0:88c3d6c8a4eb | 71 | |
TrebleStick | 0:88c3d6c8a4eb | 72 | //Then turn on |
TrebleStick | 0:88c3d6c8a4eb | 73 | if (driveOut & 0x01) L1L = 1; |
TrebleStick | 0:88c3d6c8a4eb | 74 | if (driveOut & 0x02) L1H = 0; |
TrebleStick | 0:88c3d6c8a4eb | 75 | if (driveOut & 0x04) L2L = 1; |
TrebleStick | 0:88c3d6c8a4eb | 76 | if (driveOut & 0x08) L2H = 0; |
TrebleStick | 0:88c3d6c8a4eb | 77 | if (driveOut & 0x10) L3L = 1; |
TrebleStick | 0:88c3d6c8a4eb | 78 | if (driveOut & 0x20) L3H = 0; |
TrebleStick | 0:88c3d6c8a4eb | 79 | } |
TrebleStick | 0:88c3d6c8a4eb | 80 | |
TrebleStick | 0:88c3d6c8a4eb | 81 | //Convert photointerrupter inputs to a rotor state |
TrebleStick | 0:88c3d6c8a4eb | 82 | inline int8_t readRotorState(){ |
TrebleStick | 0:88c3d6c8a4eb | 83 | return stateMap[I1 + 2*I2 + 4*I3]; |
TrebleStick | 0:88c3d6c8a4eb | 84 | } |
TrebleStick | 0:88c3d6c8a4eb | 85 | |
TrebleStick | 0:88c3d6c8a4eb | 86 | //Basic synchronisation routine |
TrebleStick | 0:88c3d6c8a4eb | 87 | int8_t motorHome() { |
TrebleStick | 0:88c3d6c8a4eb | 88 | //Put the motor in drive state 0 and wait for it to stabilise |
TrebleStick | 0:88c3d6c8a4eb | 89 | motorOut(0); |
TrebleStick | 0:88c3d6c8a4eb | 90 | wait(1.0); |
TrebleStick | 0:88c3d6c8a4eb | 91 | |
TrebleStick | 0:88c3d6c8a4eb | 92 | //Get the rotor state |
TrebleStick | 0:88c3d6c8a4eb | 93 | return readRotorState(); |
TrebleStick | 0:88c3d6c8a4eb | 94 | } |
TrebleStick | 0:88c3d6c8a4eb | 95 | |
TrebleStick | 0:88c3d6c8a4eb | 96 | //Main |
TrebleStick | 0:88c3d6c8a4eb | 97 | int main() { |
TrebleStick | 0:88c3d6c8a4eb | 98 | int8_t orState = 0; //Rotot offset at motor state 0 |
TrebleStick | 0:88c3d6c8a4eb | 99 | int8_t intState = 0; |
TrebleStick | 0:88c3d6c8a4eb | 100 | int8_t intStateOld = 0; |
TrebleStick | 0:88c3d6c8a4eb | 101 | float delay = 0.5; |
TrebleStick | 0:88c3d6c8a4eb | 102 | //Initialise the serial port |
TrebleStick | 0:88c3d6c8a4eb | 103 | Serial pc(SERIAL_TX, SERIAL_RX); |
TrebleStick | 0:88c3d6c8a4eb | 104 | pc.printf("Hello\n\r"); |
TrebleStick | 0:88c3d6c8a4eb | 105 | |
TrebleStick | 0:88c3d6c8a4eb | 106 | //Run the motor synchronisation |
TrebleStick | 0:88c3d6c8a4eb | 107 | orState = motorHome(); |
TrebleStick | 0:88c3d6c8a4eb | 108 | |
TrebleStick | 0:88c3d6c8a4eb | 109 | pc.printf("Rotor origin: %x\n\r",orState); |
TrebleStick | 0:88c3d6c8a4eb | 110 | //orState is subtracted from future rotor state inputs to align rotor and motor states |
TrebleStick | 0:88c3d6c8a4eb | 111 | |
TrebleStick | 0:88c3d6c8a4eb | 112 | |
TrebleStick | 0:88c3d6c8a4eb | 113 | //Poll the rotor state and set the motor outputs accordingly to spin the motor |
TrebleStick | 0:88c3d6c8a4eb | 114 | while (1) { |
TrebleStick | 0:88c3d6c8a4eb | 115 | |
TrebleStick | 0:88c3d6c8a4eb | 116 | intState = (intState-orState+lead+6)%6; |
TrebleStick | 0:88c3d6c8a4eb | 117 | motorOut(intState); //+6 to make sure the remainder is positive |
TrebleStick | 0:88c3d6c8a4eb | 118 | |
TrebleStick | 0:88c3d6c8a4eb | 119 | wait(delay); |
TrebleStick | 0:88c3d6c8a4eb | 120 | delay = delay*0.98; |
TrebleStick | 0:88c3d6c8a4eb | 121 | |
TrebleStick | 0:88c3d6c8a4eb | 122 | pc.printf("State: %x intState: %x Speed : %f \n\r", readRotorState(), intState, 1/(delay*6)); |
TrebleStick | 0:88c3d6c8a4eb | 123 | //orState is subtracted from future rotor state inputs to align rotor and motor states |
TrebleStick | 0:88c3d6c8a4eb | 124 | } |
TrebleStick | 0:88c3d6c8a4eb | 125 | } |
TrebleStick | 0:88c3d6c8a4eb | 126 |