First Commit
Dependencies: mbed Crypto_light mbed-rtos
Spin it 2 win it
Diff: main.cpp
- Revision:
- 0:88c3d6c8a4eb
- Child:
- 1:a530f6235850
diff -r 000000000000 -r 88c3d6c8a4eb main.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main.cpp Sun Mar 11 17:26:02 2018 +0000 @@ -0,0 +1,126 @@ +#include "mbed.h" + +//Photointerrupter input pins +#define I1pin D2 +#define I2pin D11 +#define I3pin D12 + +//Incremental encoder input pins +#define CHA D7 +#define CHB D8 + +//Motor Drive output pins //Mask in output byte +#define L1Lpin D4 //0x01 +#define L1Hpin D5 //0x02 +#define L2Lpin D3 //0x04 +#define L2Hpin D6 //0x08 +#define L3Lpin D9 //0x10 +#define L3Hpin D10 //0x20 + +//Mapping from sequential drive states to motor phase outputs +/* +State L1 L2 L3 +0 H - L +1 - H L +2 L H - +3 L - H +4 - L H +5 H L - +6 - - - +7 - - - +*/ +//Drive state to output table +const int8_t driveTable[] = {0x12,0x18,0x09,0x21,0x24,0x06,0x00,0x00}; + +//Mapping from interrupter inputs to sequential rotor states. 0x00 and 0x07 are not valid +const int8_t stateMap[] = {0x07,0x05,0x03,0x04,0x01,0x00,0x02,0x07}; +//const int8_t stateMap[] = {0x07,0x01,0x03,0x02,0x05,0x00,0x04,0x07}; //Alternative if phase order of input or drive is reversed + +//Phase lead to make motor spin +const int8_t lead = 2; //2 for forwards, -2 for backwards + +//Status LED +DigitalOut led1(LED1); + +//Photointerrupter inputs +DigitalIn I1(I1pin); +DigitalIn I2(I2pin); +DigitalIn I3(I3pin); + +//Motor Drive outputs +DigitalOut L1L(L1Lpin); +DigitalOut L1H(L1Hpin); +DigitalOut L2L(L2Lpin); +DigitalOut L2H(L2Hpin); +DigitalOut L3L(L3Lpin); +DigitalOut L3H(L3Hpin); + +//Set a given drive state +void motorOut(int8_t driveState){ + + //Lookup the output byte from the drive state. + int8_t driveOut = driveTable[driveState & 0x07]; + + //Turn off first + if (~driveOut & 0x01) L1L = 0; + if (~driveOut & 0x02) L1H = 1; + if (~driveOut & 0x04) L2L = 0; + if (~driveOut & 0x08) L2H = 1; + if (~driveOut & 0x10) L3L = 0; + if (~driveOut & 0x20) L3H = 1; + + //Then turn on + if (driveOut & 0x01) L1L = 1; + if (driveOut & 0x02) L1H = 0; + if (driveOut & 0x04) L2L = 1; + if (driveOut & 0x08) L2H = 0; + if (driveOut & 0x10) L3L = 1; + if (driveOut & 0x20) L3H = 0; + } + + //Convert photointerrupter inputs to a rotor state +inline int8_t readRotorState(){ + return stateMap[I1 + 2*I2 + 4*I3]; + } + +//Basic synchronisation routine +int8_t motorHome() { + //Put the motor in drive state 0 and wait for it to stabilise + motorOut(0); + wait(1.0); + + //Get the rotor state + return readRotorState(); +} + +//Main +int main() { + int8_t orState = 0; //Rotot offset at motor state 0 + int8_t intState = 0; + int8_t intStateOld = 0; + float delay = 0.5; + //Initialise the serial port + Serial pc(SERIAL_TX, SERIAL_RX); + pc.printf("Hello\n\r"); + + //Run the motor synchronisation + orState = motorHome(); + + pc.printf("Rotor origin: %x\n\r",orState); + //orState is subtracted from future rotor state inputs to align rotor and motor states + + + //Poll the rotor state and set the motor outputs accordingly to spin the motor + while (1) { + + intState = (intState-orState+lead+6)%6; + motorOut(intState); //+6 to make sure the remainder is positive + + wait(delay); + delay = delay*0.98; + + pc.printf("State: %x intState: %x Speed : %f \n\r", readRotorState(), intState, 1/(delay*6)); + //orState is subtracted from future rotor state inputs to align rotor and motor states + } +} +