Revision 0:fe433d587d8a, committed 2016-12-08

Comitter:

tomislav11

Date:

Thu Dec 08 13:34:06 2016 +0000

Commit message:

13 Zadatak DC motor

Changed in this revision

diff -r 000000000000 -r fe433d587d8a QEI.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/QEI.lib	Thu Dec 08 13:34:06 2016 +0000
@@ -0,0 +1,1 @@
+http://developer.mbed.org/users/aberk/code/QEI/#5c2ad81551aa

diff -r 000000000000 -r fe433d587d8a main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Dec 08 13:34:06 2016 +0000
@@ -0,0 +1,148 @@
+#include "mbed.h"
+#include "QEI.h"
+
+QEI wheel (p29, p30, NC, 512) ;
+PwmOut PWM1(p22);
+PwmOut PWM2(p21);
+Serial pc(USBTX, USBRX);
+Serial bluetooth(p28, p27,9600);
+
+
+Ticker flipper1;
+
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+DigitalOut led3(LED3);
+DigitalOut led4(LED4);
+DigitalOut greanLed(p25);
+
+AnalogIn Ain(p20);
+float ADCdata;
+int pulse=0;
+float speed=0;
+char buffer[5];
+char *index=buffer;
+int mod=0;
+
+void rxCallbackBluetooth()
+{
+
+    char c=bluetooth.getc();
+
+    *index=c;
+    if (*index!=0x0D)
+        index++;
+
+}
+
+void rxCallbackPC()
+{
+
+    char c=pc.getc();
+
+    *index=c;
+    if (*index!=0x0D)
+        index++;
+
+}
+
+bool IsReadUART()
+{
+    if (*index==0x0D)
+        return true;
+    else
+        return false;
+
+}
+
+
+void flip1()   
+{
+
+    pulse=wheel.getPulses();
+    pc.printf("Pulses is: %i", pulse);
+    speed=pulse/512.0;
+    wheel.reset();
+    pc.printf("  Speed is: %.2f", speed);
+    pc.printf(" okr/s\n\r");
+}
+
+void init()
+{
+    PWM1.period(0.001);
+    PWM2.period(0.001);
+    flipper1.attach(&flip1, 1);
+    pc.attach(&rxCallbackPC, Serial::RxIrq);
+    bluetooth.attach(&rxCallbackBluetooth, Serial::RxIrq);
+}
+
+int main()
+{
+    init();
+    int setSpeed;
+    greanLed=1;
+    while(1) {
+
+
+        if(IsReadUART()) {
+            mod=1;
+            led1=true;
+            led2=true;
+            led3=true;
+            led4=true;
+            setSpeed=atoi(buffer);
+            index=buffer;
+            buffer[0]=0;
+            buffer[1]=0;
+            buffer[2]=0;
+            buffer[3]=0;
+
+            if((setSpeed>=0)&&(setSpeed<=100)) {
+                PWM1=0;
+                wait(0.01);
+                PWM2=setSpeed/100.0;
+
+
+            } else if((setSpeed<0)&&(setSpeed>=-100))  {
+                PWM2=0;
+                wait(0.01);
+                PWM1=(setSpeed*-1)/100.0;
+
+
+            } else if(setSpeed==255) {
+                mod=0;
+            }
+
+        }
+        if(mod==0) {
+            ADCdata=Ain;
+
+            if((ADCdata>=0)&&(ADCdata<0.45)) {
+                PWM2=1-ADCdata*2.22;
+                PWM1=0;
+                led1=false;
+                led2=false;
+                led3=false;
+                led4=true;
+
+            } else if((ADCdata>0.55)&&(ADCdata<=1)) {
+                PWM2=0;
+                PWM1=(ADCdata-0.55)*2.22;
+                led1=true;
+                led2=false;
+                led3=false;
+                led4=false;
+            } else {
+                PWM1=0;
+                PWM2=0;
+                led1=false;
+                led2=true;
+                led3=true;
+                led4=false;
+            }
+        }
+
+       
+
+    }
+}

diff -r 000000000000 -r fe433d587d8a mbed.bld
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Thu Dec 08 13:34:06 2016 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/d75b3fe1f5cb
\ No newline at end of file