main.cpp

00001 /**
00002  ******************************************************************************
00003  * @file    main.cpp
00004  * @author  IPC Rennes
00005  * @version V1.0.0
00006  * @date    April 25th, 2016
00007  * @brief   mbed simple application for the STMicroelectronics X-NUCLEO-IHM12A1
00008  *          Motor Control Expansion Board: control of 2 Brush DC motors.
00009  ******************************************************************************
00010  * @attention
00011  *
00012  * <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
00013  *
00014  * Redistribution and use in source and binary forms, with or without modification,
00015  * are permitted provided that the following conditions are met:
00016  *   1. Redistributions of source code must retain the above copyright notice,
00017  *      this list of conditions and the following disclaimer.
00018  *   2. Redistributions in binary form must reproduce the above copyright notice,
00019  *      this list of conditions and the following disclaimer in the documentation
00020  *      and/or other materials provided with the distribution.
00021  *   3. Neither the name of STMicroelectronics nor the names of its contributors
00022  *      may be used to endorse or promote products derived from this software
00023  *      without specific prior written permission.
00024  *
00025  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00026  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00027  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00028  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
00029  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
00030  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
00031  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00032  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
00033  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
00034  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00035  *
00036  ******************************************************************************
00037  */
00038 
00039 /* Includes ------------------------------------------------------------------*/
00040 
00041 /* mbed specific header files. */
00042 #include "mbed.h"
00043 #include "color.h"
00044 #include "hcsr04.h"
00045 #include "BDCMotor.h"
00046 
00047 /* Component specific header files. */
00048 #include "STSpin240_250.h"
00049 HCSR04 sensor1(D10, D11);
00050 
00051 ColorSensor color(D4, D5, D6, D7, D8);
00052 
00053 /* Variables -----------------------------------------------------------------*/
00054 
00055 /* Initialization parameters of the motor connected to the expansion board. */
00056  STSpin240_250_init_t init =
00057  {
00058   20000, /* Frequency of PWM of Input Bridge A in Hz up to 100000Hz             */
00059   20000, /* Frequency of PWM of Input Bridge B in Hz up to 100000Hz             */
00060   20000, /* Frequency of PWM used for Ref pin in Hz up to 100000Hz              */
00061   50,    /* Duty cycle of PWM used for Ref pin (from 0 to 100)                  */
00062   TRUE   /* Dual Bridge configuration  (FALSE for mono, TRUE for dual brush dc) */
00063  };
00064 
00065 /* Motor Control Component. */
00066 STSpin240_250 *motor;
00067 
00068 /* Functions -----------------------------------------------------------------*/
00069 
00070 /**
00071  * @brief  This is an example of error handler.
00072  * @param[in] error Number of the error
00073  * @retval None
00074  * @note   If needed, implement it, and then attach it:
00075  *           + motor->attach_error_handler(&my_error_handler);
00076  */
00077 void my_error_handler(uint16_t error)
00078 {
00079   /* Printing to the console. */
00080   printf("Error %d detected\r\n\n", error);
00081   
00082   /* Infinite loop */
00083   while (true) {
00084   }    
00085 }
00086 
00087 /**
00088  * @brief  This is an example of user handler for the flag interrupt.
00089  * @param  None
00090  * @retval None
00091  * @note   If needed, implement it, and then attach and enable it:
00092  *           + motor->attach_flag_irq(&my_flag_irq_handler);
00093  *           + motor->enable_flag_irq();
00094  *         To disable it:
00095  *           + motor->DisbleFlagIRQ();
00096  */
00097 void my_flag_irq_handler(void)
00098 {
00099    /* Code to be customised */
00100   /************************/
00101 
00102   printf("    WARNING: \"FLAG\" interrupt triggered.\r\n");
00103 
00104   /* Get the state of bridge A */
00105   uint16_t bridgeState  = motor->get_bridge_status(0);
00106   
00107   if (bridgeState == 0)  {
00108     if (motor->get_device_state(0) != INACTIVE) {
00109       /* Bridges were disabled due to overcurrent or over temperature */
00110       /* When  motor was running */
00111       my_error_handler(0XBAD0);
00112     }
00113   }
00114 }
00115 
00116 /* Main ----------------------------------------------------------------------*/
00117 
00118 int main()
00119 {
00120   
00121   /* Printing to the console. */
00122   printf("STARTING MAIN PROGRAM\r\n");
00123     
00124 //----- Initialization 
00125   
00126   /* Initializing Motor Control Component. */
00127   #if (defined TARGET_NUCLEO_F030R8)||(defined TARGET_NUCLEO_F334R8)
00128   motor = new STSpin240_250(D2, D9, D6, D7, D5, D4, A2);
00129   #elif (defined TARGET_NUCLEO_L152RE)
00130   motor = new STSpin240_250(D2, D9, D6, D7, D5, D4, A3);
00131   #else
00132   motor = new STSpin240_250(D2, D9, D6, D7, D5, D4, A0);
00133   #endif
00134   if (motor->init(&init) != COMPONENT_OK) exit(EXIT_FAILURE);
00135 
00136   /* Set dual bridge enabled as two motors are used*/
00137   motor->set_dual_full_bridge_config(1);
00138 
00139   /* Attaching and enabling an interrupt handler. */
00140   motor->attach_flag_irq(&my_flag_irq_handler);
00141   motor->enable_flag_irq();
00142     
00143   /* Attaching an error handler */
00144   motor->attach_error_handler(&my_error_handler);
00145 
00146   /* Printing to the console. */
00147   printf("Motor Control Application Example for 2 brush DC motors\r\n");
00148 
00149   /* Set PWM Frequency of Ref to 15000 Hz */ 
00150   motor->set_ref_pwm_freq(0, 15000); 
00151 
00152   /* Set PWM duty cycle of Ref to 60% */ 
00153   motor->set_ref_pwm_dc(0, 60); 
00154   
00155   /* Set PWM Frequency of bridge A inputs to 10000 Hz */ 
00156   motor->set_bridge_input_pwm_freq(0,10000); 
00157   
00158   /* Set PWM Frequency of bridge B inputs to 10000 Hz */ 
00159   motor->set_bridge_input_pwm_freq(1,10000); 
00160   
00161   /* Infinite Loop. */
00162   printf("--> Infinite Loop...\r\n");
00163   bool fase = 1;
00164   while (true) {
00165     motor->run(0, BDCMotor::FWD);
00166     motor->run(1, BDCMotor::FWD);    
00167     motor->set_speed(1,49); 
00168     motor->set_speed(0,50);    
00169     sensor1.start();    
00170     if (sensor1.get_dist_cm() < 10){
00171         fase = !fase;
00172       if (fase == 0){              
00173         wait_ms(2500);        
00174           motor->set_speed(1,15); 
00175           motor->set_speed(0,50);         
00176         wait_ms(500);         
00177           motor->set_speed(1,49); 
00178           motor->set_speed(0,50); 
00179       }
00180       else
00181       {              
00182           wait_ms(2500);        
00183           motor->set_speed(1,50); 
00184           motor->set_speed(0,15);         
00185           wait_ms(500);         
00186           motor->set_speed(1,49); 
00187           motor->set_speed(0,50); 
00188       }
00189    }
00190    
00191    if(color.getRed()>100&&color.getGreen()>100)
00192    {
00193         //se vede il giallo allora fa questo
00194    }    
00195    if(color.getRed()>130&&color.getGreen()>130&&color.getBlue()>130){
00196        //se vede il bianco allora fa questo
00197        unsigned int motorino=
00198    }
00199    if(color.getRed()>110){
00200        //se vede il rosso
00201        motor->hard_stop(0);
00202        motor->hard_stop(1);
00203        wait(2);
00204    }
00205   }
00206 }
00207 
00208 /*********** (C) COPYRIGHT STMicroelectronics ********** END OF FILE **********/