Sz_Insper / Mbed 2 deprecated Motor_passo_joystick

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Dependencies:   mbed

Files at this revision

API Documentation at this revision

Revision 0:839e4a71257c, committed 2020-04-13

Comitter:
Marcelocostanzo
Date:
Mon Apr 13 11:10:28 2020 +0000
Commit message:
Stepper + joystick

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file
mbed.bld Show annotated file Show diff for this revision Revisions of this file 
diff -r 000000000000 -r 839e4a71257c main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Apr 13 11:10:28 2020 +0000
@@ -0,0 +1,88 @@
+#include "mbed.h"
+
+DigitalOut myled(LED1);
+
+DigitalOut X_COIL_A1(D2);
+DigitalOut X_COIL_A2(D3);
+DigitalOut X_COIL_B1(D4);
+DigitalOut X_COIL_B2(D5);
+
+DigitalOut Y_COIL_A1(D6);
+DigitalOut Y_COIL_A2(D7);
+DigitalOut Y_COIL_B1(D8);
+DigitalOut Y_COIL_B2(D9);
+
+AnalogIn X_AXIS_ADC(A0);
+AnalogIn Y_AXIS_ADC(A1);
+
+Serial PC(USBTX, USBRX);
+
+int main() 
+{
+    float X_AXIS, Y_AXIS;
+    float X_PERIOD, Y_PERIOD;
+    int X_LAST_STEP = 1;
+    int Y_LAST_STEP = 1;
+    
+    while(1) 
+    {
+        X_AXIS = X_AXIS_ADC * 4096; //0 a 4096 degraus
+        Y_AXIS = Y_AXIS_ADC * 4096; //0 a 4096 degraus
+        
+        X_AXIS = X_AXIS - 2048; //ira descolar a leitura,pois o joystick em repouso entrega meia tensão
+        Y_AXIS = Y_AXIS - 2048; //ira descolar a leitura,pois o joystick em repouso entrega meia tensão
+        
+        X_PERIOD = 1 / X_AXIS; //1 a 0,000488 segundos (488uS)
+        Y_PERIOD = 1 / Y_AXIS; //1 a 0,000488 segundos (488uS)
+        
+        if(X_LAST_STEP > 4) X_LAST_STEP = 1; //reinicia o indexador de passos 
+        if(Y_LAST_STEP > 4) Y_LAST_STEP = 1; //reinicia o indexador de passos 
+        
+        
+        /*--------Rotina para rotacionar os motores----------------------------------------------------------------*/
+        if(X_AXIS > 10)
+        {
+            switch (X_LAST_STEP)
+            {
+                case 1: X_COIL_A1 = 1; X_COIL_A2 = 0; X_COIL_B1 = 0; X_COIL_B2 = 0; X_LAST_STEP++; wait(X_PERIOD); break;
+                case 2: X_COIL_A1 = 0; X_COIL_A2 = 1; X_COIL_B1 = 0; X_COIL_B2 = 0; X_LAST_STEP++; wait(X_PERIOD); break;
+                case 3: X_COIL_A1 = 0; X_COIL_A2 = 0; X_COIL_B1 = 1; X_COIL_B2 = 0; X_LAST_STEP++; wait(X_PERIOD); break;
+                case 4: X_COIL_A1 = 0; X_COIL_A2 = 0; X_COIL_B1 = 0; X_COIL_B2 = 1; X_LAST_STEP++; wait(X_PERIOD); break;
+            }
+        }
+        
+        if(X_AXIS < -10)
+        {
+            switch (X_LAST_STEP)
+            {
+                case 4: X_COIL_A1 = 1; X_COIL_A2 = 0; X_COIL_B1 = 0; X_COIL_B2 = 0; X_LAST_STEP++; wait(X_PERIOD); break;
+                case 3: X_COIL_A1 = 0; X_COIL_A2 = 1; X_COIL_B1 = 0; X_COIL_B2 = 0; X_LAST_STEP++; wait(X_PERIOD); break;
+                case 2: X_COIL_A1 = 0; X_COIL_A2 = 0; X_COIL_B1 = 1; X_COIL_B2 = 0; X_LAST_STEP++; wait(X_PERIOD); break;
+                case 1: X_COIL_A1 = 0; X_COIL_A2 = 0; X_COIL_B1 = 0; X_COIL_B2 = 1; X_LAST_STEP++; wait(X_PERIOD); break;
+            }
+        }
+        
+        if(Y_AXIS > 10)
+        {
+            switch (Y_LAST_STEP)
+            {
+                case 1: Y_COIL_A1 = 1; Y_COIL_A2 = 0; Y_COIL_B1 = 0; Y_COIL_B2 = 0; Y_LAST_STEP++; wait(Y_PERIOD); break;
+                case 2: Y_COIL_A1 = 0; Y_COIL_A2 = 1; Y_COIL_B1 = 0; Y_COIL_B2 = 0; Y_LAST_STEP++; wait(Y_PERIOD); break;
+                case 3: Y_COIL_A1 = 0; Y_COIL_A2 = 0; Y_COIL_B1 = 1; Y_COIL_B2 = 0; Y_LAST_STEP++; wait(Y_PERIOD); break;
+                case 4: Y_COIL_A1 = 0; Y_COIL_A2 = 0; Y_COIL_B1 = 0; Y_COIL_B2 = 1; Y_LAST_STEP++; wait(Y_PERIOD); break;
+            }
+        }
+        
+        if(Y_AXIS < -10)
+        {
+            switch (Y_LAST_STEP)
+            {
+                case 4: Y_COIL_A1 = 1; Y_COIL_A2 = 0; Y_COIL_B1 = 0; Y_COIL_B2 = 0; Y_LAST_STEP++; wait(Y_PERIOD); break;
+                case 3: Y_COIL_A1 = 0; Y_COIL_A2 = 1; Y_COIL_B1 = 0; Y_COIL_B2 = 0; Y_LAST_STEP++; wait(Y_PERIOD); break;
+                case 2: Y_COIL_A1 = 0; Y_COIL_A2 = 0; Y_COIL_B1 = 1; Y_COIL_B2 = 0; Y_LAST_STEP++; wait(Y_PERIOD); break;
+                case 1: Y_COIL_A1 = 0; Y_COIL_A2 = 0; Y_COIL_B1 = 0; Y_COIL_B2 = 1; Y_LAST_STEP++; wait(Y_PERIOD); break;
+            }
+        }
+        
+    }
+}

diff -r 000000000000 -r 839e4a71257c mbed.bld
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Mon Apr 13 11:10:28 2020 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400
\ No newline at end of file