Sz_Insper / Mbed 2 deprecated L6230_Hbridge

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   mbed

main.cpp@4:97d107efa17e, 2020-10-28 (annotated)

Committer:
Marcelocostanzo
Date:
Wed Oct 28 13:02:18 2020 +0000
Revision:
4:97d107efa17e
Parent:
3:95a3a1fbc807
Child:
6:d6e4872d38fe
Funcionando todos bracos independentes

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Marcelocostanzo 0:24b2f1c78160 1 #include "mbed.h"
Marcelocostanzo 4:97d107efa17e 2
Marcelocostanzo 4:97d107efa17e 3 //---Pinos de enable dos braços----
Marcelocostanzo 4:97d107efa17e 4 DigitalOut enable_ch1(PC_10);
Marcelocostanzo 4:97d107efa17e 5 DigitalOut enable_ch2(PC_11);
Marcelocostanzo 4:97d107efa17e 6 DigitalOut enable_ch3(PC_12);
Marcelocostanzo 0:24b2f1c78160 7
Marcelocostanzo 4:97d107efa17e 8 //---Pinos de canais dos braços----
Marcelocostanzo 4:97d107efa17e 9 PwmOut in_ch1(PA_8);
Marcelocostanzo 4:97d107efa17e 10 PwmOut in_ch2(PA_9);
Marcelocostanzo 4:97d107efa17e 11 PwmOut in_ch3(PA_10);
Marcelocostanzo 0:24b2f1c78160 12
Marcelocostanzo 4:97d107efa17e 13 //---Pino de ADC da X-NUCLEO ----
Marcelocostanzo 1:08226e87671c 14 AnalogIn pot(PB_1);
Marcelocostanzo 1:08226e87671c 15
Marcelocostanzo 4:97d107efa17e 16 //---Pino do led da NUCLEO----
Marcelocostanzo 0:24b2f1c78160 17 DigitalOut myled(LED1);
Marcelocostanzo 0:24b2f1c78160 18
Marcelocostanzo 4:97d107efa17e 19 //---Pino do butao da NUCLEO----
Marcelocostanzo 0:24b2f1c78160 20 DigitalIn sw(PC_13);
Marcelocostanzo 0:24b2f1c78160 21
Marcelocostanzo 4:97d107efa17e 22 //---Pinos do serial-USB da NUCLEO----
Marcelocostanzo 0:24b2f1c78160 23 Serial pc(USBTX, USBRX);
Marcelocostanzo 0:24b2f1c78160 24
Marcelocostanzo 4:97d107efa17e 25 //---Prototipo das Funções----
Marcelocostanzo 4:97d107efa17e 26 void motor_start(float SPEED, unsigned int MOTOR);
Marcelocostanzo 4:97d107efa17e 27 void motor_stop(unsigned int MOTOR);
Marcelocostanzo 0:24b2f1c78160 28
Marcelocostanzo 4:97d107efa17e 29 //---Programa principal-------
Marcelocostanzo 0:24b2f1c78160 30 int main()
Marcelocostanzo 0:24b2f1c78160 31 {
Marcelocostanzo 4:97d107efa17e 32 //---Configura o periodo do PWM----
Marcelocostanzo 4:97d107efa17e 33 in_ch1.period_ms(1);
Marcelocostanzo 4:97d107efa17e 34 in_ch2.period_ms(1);
Marcelocostanzo 4:97d107efa17e 35 in_ch3.period_ms(1);
Marcelocostanzo 4:97d107efa17e 36
Marcelocostanzo 4:97d107efa17e 37 //---Inicia o PWM com 0% de duty-cicle----
Marcelocostanzo 4:97d107efa17e 38 in_ch1.write(0);
Marcelocostanzo 4:97d107efa17e 39 in_ch2.write(0);
Marcelocostanzo 4:97d107efa17e 40 in_ch3.write(0);
Marcelocostanzo 4:97d107efa17e 41
Marcelocostanzo 4:97d107efa17e 42 //---Inicia os braços em Z (alta impedancia)----
Marcelocostanzo 4:97d107efa17e 43 enable_ch1 = 2;
Marcelocostanzo 4:97d107efa17e 44 enable_ch2 = 2;
Marcelocostanzo 4:97d107efa17e 45 enable_ch3 = 2;
Marcelocostanzo 4:97d107efa17e 46
Marcelocostanzo 4:97d107efa17e 47 //---Configura o baudrate da serial para 115200---
Marcelocostanzo 0:24b2f1c78160 48 pc.baud(115200);
Marcelocostanzo 0:24b2f1c78160 49
Marcelocostanzo 4:97d107efa17e 50 pc.printf("Started\r"); //Iniciando
Marcelocostanzo 0:24b2f1c78160 51
Marcelocostanzo 0:24b2f1c78160 52 while(1)
Marcelocostanzo 0:24b2f1c78160 53 {
Marcelocostanzo 4:97d107efa17e 54 motor_start(0.5, 1); //Liga o motor 1 com 50% de duty-cicle
Marcelocostanzo 4:97d107efa17e 55 wait_ms(500);
Marcelocostanzo 4:97d107efa17e 56 motor_start(0.5, 2); //Liga o motor 2 com 50% de duty-cicle
Marcelocostanzo 4:97d107efa17e 57 wait_ms(500);
Marcelocostanzo 4:97d107efa17e 58 motor_start(0.5, 3); //Liga o motor 3 com 50% de duty-cicle
Marcelocostanzo 4:97d107efa17e 59 wait_ms(500);
Marcelocostanzo 4:97d107efa17e 60
Marcelocostanzo 4:97d107efa17e 61 motor_stop(1); //Desliga o motor 1
Marcelocostanzo 4:97d107efa17e 62 wait_ms(500);
Marcelocostanzo 4:97d107efa17e 63 motor_stop(2); //Desliga o motor 2
Marcelocostanzo 4:97d107efa17e 64 wait_ms(500);
Marcelocostanzo 4:97d107efa17e 65 motor_stop(3); //Desliga o motor 3
Marcelocostanzo 4:97d107efa17e 66 wait_ms(500);
Marcelocostanzo 0:24b2f1c78160 67 }
Marcelocostanzo 0:24b2f1c78160 68 }
Marcelocostanzo 0:24b2f1c78160 69
Marcelocostanzo 4:97d107efa17e 70 //---Função de controle dos braços----------
Marcelocostanzo 4:97d107efa17e 71 void motor_start(float SPEED, unsigned int MOTOR)
Marcelocostanzo 0:24b2f1c78160 72 {
Marcelocostanzo 4:97d107efa17e 73 if(MOTOR == 1)
Marcelocostanzo 4:97d107efa17e 74 {
Marcelocostanzo 4:97d107efa17e 75 enable_ch1 = 1;
Marcelocostanzo 4:97d107efa17e 76 in_ch1.write(SPEED);
Marcelocostanzo 4:97d107efa17e 77 }
Marcelocostanzo 0:24b2f1c78160 78
Marcelocostanzo 4:97d107efa17e 79 if(MOTOR == 2)
Marcelocostanzo 0:24b2f1c78160 80 {
Marcelocostanzo 4:97d107efa17e 81 enable_ch2 = 1;
Marcelocostanzo 4:97d107efa17e 82 in_ch2.write(SPEED);
Marcelocostanzo 0:24b2f1c78160 83 }
Marcelocostanzo 0:24b2f1c78160 84
Marcelocostanzo 4:97d107efa17e 85 if(MOTOR == 3)
Marcelocostanzo 4:97d107efa17e 86 {
Marcelocostanzo 4:97d107efa17e 87 enable_ch3 = 1;
Marcelocostanzo 4:97d107efa17e 88 in_ch3.write(SPEED);
Marcelocostanzo 4:97d107efa17e 89 }
Marcelocostanzo 4:97d107efa17e 90 }
Marcelocostanzo 4:97d107efa17e 91
Marcelocostanzo 4:97d107efa17e 92 //---Função de desligamento dos braços----------
Marcelocostanzo 4:97d107efa17e 93 void motor_stop(unsigned int MOTOR)
Marcelocostanzo 4:97d107efa17e 94 {
Marcelocostanzo 4:97d107efa17e 95 if(MOTOR == 1)
Marcelocostanzo 4:97d107efa17e 96 {
Marcelocostanzo 4:97d107efa17e 97 enable_ch1 = 2; //alta impedancia - Z
Marcelocostanzo 4:97d107efa17e 98 in_ch1.write(0);
Marcelocostanzo 4:97d107efa17e 99 }
Marcelocostanzo 0:24b2f1c78160 100
Marcelocostanzo 4:97d107efa17e 101 if(MOTOR == 2)
Marcelocostanzo 4:97d107efa17e 102 {
Marcelocostanzo 4:97d107efa17e 103 enable_ch2 = 2; //alta impedancia - Z
Marcelocostanzo 4:97d107efa17e 104 in_ch2.write(0);
Marcelocostanzo 4:97d107efa17e 105 }
Marcelocostanzo 4:97d107efa17e 106
Marcelocostanzo 4:97d107efa17e 107 if(MOTOR == 3)
Marcelocostanzo 4:97d107efa17e 108 {
Marcelocostanzo 4:97d107efa17e 109 enable_ch3 = 2; //alta impedancia - Z
Marcelocostanzo 4:97d107efa17e 110 in_ch3.write(0);
Marcelocostanzo 4:97d107efa17e 111 }
Marcelocostanzo 4:97d107efa17e 112 }
Marcelocostanzo 4:97d107efa17e 113