TeamRöbi / Mbed 2 deprecated DC_Motor_Ansteuern

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Dependencies:   mbed

main.cpp@0:55725179457f, 2020-03-09 (annotated)

Committer:
kuni97
Date:
Mon Mar 09 10:08:38 2020 +0000
Revision:
0:55725179457f
V1

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kuni97 0:55725179457f 1 #include "mbed.h"
kuni97 0:55725179457f 2 #include "EncoderCounter.h"
kuni97 0:55725179457f 3
kuni97 0:55725179457f 4 DigitalOut myled(LED1);
kuni97 0:55725179457f 5 DigitalOut enable(PB_15);
kuni97 0:55725179457f 6
kuni97 0:55725179457f 7 // initialise PWM
kuni97 0:55725179457f 8 PwmOut pwm_motor1(PB_13);
kuni97 0:55725179457f 9 PwmOut pwm_motor2(PA_9);
kuni97 0:55725179457f 10 PwmOut pwm_motor3(PA_10);
kuni97 0:55725179457f 11
kuni97 0:55725179457f 12 // crete Encoder read objects
kuni97 0:55725179457f 13 EncoderCounter counter1(PA_6, PC_7); // counter(pin A, pin B)
kuni97 0:55725179457f 14 EncoderCounter counter2(PB_6, PB_7);
kuni97 0:55725179457f 15 EncoderCounter counter3(PA_0, PA_1);
kuni97 0:55725179457f 16
kuni97 0:55725179457f 17 DigitalIn user_button(USER_BUTTON);
kuni97 0:55725179457f 18
kuni97 0:55725179457f 19 int main()
kuni97 0:55725179457f 20 {
kuni97 0:55725179457f 21 // initialise PWM
kuni97 0:55725179457f 22 pwm_motor1.period(0.0005f);// 0.5ms 2KHz
kuni97 0:55725179457f 23 pwm_motor1.write(0.5f);
kuni97 0:55725179457f 24 pwm_motor2.period(0.0005f);// 0.5ms 2KHz
kuni97 0:55725179457f 25 pwm_motor2.write(0.5f);
kuni97 0:55725179457f 26 pwm_motor3.period(0.0005f);// 0.5ms 2KHz
kuni97 0:55725179457f 27 pwm_motor3.write(0.5f);
kuni97 0:55725179457f 28
kuni97 0:55725179457f 29 printf("initialization succesfull\n\r");
kuni97 0:55725179457f 30
kuni97 0:55725179457f 31 while (1) {
kuni97 0:55725179457f 32
kuni97 0:55725179457f 33 if(!user_button) {
kuni97 0:55725179457f 34 // LED off, PWM 60%
kuni97 0:55725179457f 35 myled = 0;
kuni97 0:55725179457f 36 enable = 1;
kuni97 0:55725179457f 37 pwm_motor1.write(0.6f);
kuni97 0:55725179457f 38 pwm_motor2.write(0.6f);
kuni97 0:55725179457f 39 pwm_motor3.write(0.6f);
kuni97 0:55725179457f 40
kuni97 0:55725179457f 41
kuni97 0:55725179457f 42 } else {
kuni97 0:55725179457f 43 // LED on, PWM 50% (no motion)
kuni97 0:55725179457f 44 enable = 0;
kuni97 0:55725179457f 45 myled = 1;
kuni97 0:55725179457f 46 pwm_motor1.write(0.5f);
kuni97 0:55725179457f 47 pwm_motor2.write(0.5f);
kuni97 0:55725179457f 48 pwm_motor3.write(0.5f);
kuni97 0:55725179457f 49 }
kuni97 0:55725179457f 50
kuni97 0:55725179457f 51
kuni97 0:55725179457f 52 // display encoder values to console
kuni97 0:55725179457f 53 printf("counter1 = %d counter2 = %d counter3 = %d\r\n",counter1.read(),counter2.read(),counter3.read());
kuni97 0:55725179457f 54
kuni97 0:55725179457f 55 wait(0.02f); // Takt 0.02s, 50Hz
kuni97 0:55725179457f 56
kuni97 0:55725179457f 57 }
kuni97 0:55725179457f 58
kuni97 0:55725179457f 59 }
kuni97 0:55725179457f 60