Thinkbed / Mbed 2 deprecated Nucleo_ACM1602_I2C_DC_Angle

Use IQS62X sensor and move motor by detected angle

Dependencies:   DRV8830 IQS62x IQSDisplayTerminal UIT_ACM1602NI mbed

Fork of Nucleo_ACM1602_I2C_DC by Thinkbed

main.cpp@6:e3afb1390167, 2017-09-21 (annotated)

Committer:
8mona
Date:
Thu Sep 21 11:34:27 2017 +0000
Revision:
6:e3afb1390167
Parent:
5:2b9614aa1171
Child:
7:acb1074eaba6
Update S Curve movement

Who changed what in which revision?

UserRevisionLine numberNew contents of line
MikamiUitOpen 0:132eb47d57fb 1 //------------------------------------------------------------
MikamiUitOpen 0:132eb47d57fb 2 // Demo program for LCD ACM1602NI using I2C interface
MikamiUitOpen 0:132eb47d57fb 3 // Pullup resistors for SDA and SCL: 4.7 kΩ
MikamiUitOpen 1:d5e9bd9b38ad 4 // 2016/04/01, Copyright (c) 2016 MIKAMI, Naoki
MikamiUitOpen 0:132eb47d57fb 5 //------------------------------------------------------------
MikamiUitOpen 0:132eb47d57fb 6
MikamiUitOpen 0:132eb47d57fb 7 #include "ACM1602NI.hpp"
8mona 3:6474ab60854e 8 #include "DRV8830.h"
8mona 5:2b9614aa1171 9 #include "IQS62x.h"
8mona 5:2b9614aa1171 10 #include "IQSdisplayTerminal.h"
8mona 5:2b9614aa1171 11
8mona 5:2b9614aa1171 12
8mona 5:2b9614aa1171 13 //IQS62xDisplay terminal; // class to display IQS62x registers on a terminal
8mona 5:2b9614aa1171 14 IQS62xIO iqs62x; // class for basic IQS62x block read and write
8mona 3:6474ab60854e 15
8mona 2:ea066749e515 16 //Cycle
8mona 5:2b9614aa1171 17 #define UP_DURATION 14 //On time [*100ms]
8mona 5:2b9614aa1171 18 #define WAIT_DELAY 10 //Delay time [*100ms]
8mona 5:2b9614aa1171 19 #define DOWN_DURATION 8 //Down time [*50ms]
8mona 5:2b9614aa1171 20 #define SWITCH_PERIOD 50 //Cycle time[*50ms]
8mona 5:2b9614aa1171 21 #define TOTAL_TIMES 30000 //total times n
8mona 4:83f7df775d46 22 #define ACCEL_SIZE 6
8mona 5:2b9614aa1171 23 #define DECEL_SIZE 6
8mona 3:6474ab60854e 24
8mona 3:6474ab60854e 25
8mona 5:2b9614aa1171 26
8mona 5:2b9614aa1171 27 const float spd_table[] = {1.0,0.9,0.8};
8mona 5:2b9614aa1171 28 //const float vol_accel[ACCEL_SIZE] = {0,0.3,0.6,0.8,0.95,1};
8mona 5:2b9614aa1171 29 const float vol_decel[DECEL_SIZE] = {1,0.75,0.4,0.15,0.05,0};
8mona 5:2b9614aa1171 30 const float vol_accel[ACCEL_SIZE] = {0,0.5,0.8,1,1,1};
8mona 5:2b9614aa1171 31 //const float vol_decel[DECEL_SIZE] = {1,0.75,0.15,-1,-0.2,0};
8mona 5:2b9614aa1171 32
8mona 5:2b9614aa1171 33 const float donw_ratio=0.85;
8mona 5:2b9614aa1171 34
8mona 3:6474ab60854e 35 static int sp_index=0;
8mona 2:ea066749e515 36
8mona 2:ea066749e515 37
MikamiUitOpen 0:132eb47d57fb 38 using namespace Mikami;
8mona 5:2b9614aa1171 39 void ShowLCD(char * buffer, int startbyte, int endbyte); // for wheel output
MikamiUitOpen 0:132eb47d57fb 40
MikamiUitOpen 0:132eb47d57fb 41 Acm1602Ni lcd_; // Default, OK
8mona 3:6474ab60854e 42
MikamiUitOpen 0:132eb47d57fb 43 //Acm1602Ni lcd_(D14, D15); // OK
MikamiUitOpen 0:132eb47d57fb 44 //Acm1602Ni lcd_(D14, D15, 200000); // OK
MikamiUitOpen 0:132eb47d57fb 45 //Acm1602Ni lcd_(D14, D15, 200000, true, true); // OK
MikamiUitOpen 0:132eb47d57fb 46 //Acm1602Ni lcd_(PB_3, PB_10); // OK
MikamiUitOpen 0:132eb47d57fb 47 //Acm1602Ni lcd_(PC_9, PA_8); // OK
MikamiUitOpen 0:132eb47d57fb 48 //Acm1602Ni lcd_(PB_4, PA_8); // OK
MikamiUitOpen 0:132eb47d57fb 49
MikamiUitOpen 0:132eb47d57fb 50 Ticker timer_;
8mona 3:6474ab60854e 51 I2C i2c(D14, D15);
8mona 3:6474ab60854e 52 DRV8830 motor(i2c, DRV8830ADDR_NN);
8mona 3:6474ab60854e 53 //DigitalOut Relay1(D2);
8mona 2:ea066749e515 54 InterruptIn button1(USER_BUTTON);
8mona 3:6474ab60854e 55 static float motor_speed;
MikamiUitOpen 0:132eb47d57fb 56
8mona 3:6474ab60854e 57
MikamiUitOpen 0:132eb47d57fb 58 // Display elapsed time in minutes and seconds
8mona 5:2b9614aa1171 59
8mona 5:2b9614aa1171 60
8mona 5:2b9614aa1171 61 void ShowLCD(char * buffer, int startbyte, int endbyte)
8mona 5:2b9614aa1171 62 {
8mona 5:2b9614aa1171 63 for (int i=startbyte; i<=endbyte; i++) {
8mona 5:2b9614aa1171 64 lcd_.WriteValue("%02x ", buffer[i]); // print out in black & white
8mona 5:2b9614aa1171 65 }
8mona 5:2b9614aa1171 66 }
8mona 5:2b9614aa1171 67
8mona 5:2b9614aa1171 68
8mona 5:2b9614aa1171 69
MikamiUitOpen 0:132eb47d57fb 70 void TimerIsr()
MikamiUitOpen 0:132eb47d57fb 71 {
8mona 3:6474ab60854e 72
8mona 3:6474ab60854e 73 //For LED Time-Sec display
MikamiUitOpen 0:132eb47d57fb 74 static int k = 0;
8mona 2:ea066749e515 75 static char ctext[4]="---";
8mona 2:ea066749e515 76 div_t d_Cycle = div (k, SWITCH_PERIOD);
8mona 2:ea066749e515 77
8mona 2:ea066749e515 78 //for Current time
8mona 5:2b9614aa1171 79 div_t d_sec = div(k,600*2); //60s * 10n
8mona 2:ea066749e515 80 int t_min = d_sec.quot;
8mona 2:ea066749e515 81 div_t d_min = div(t_min,60); //1min=60s
8mona 2:ea066749e515 82 int t_hr = d_min.quot;
8mona 2:ea066749e515 83
8mona 2:ea066749e515 84 //for Current time
8mona 2:ea066749e515 85 div_t df_sec = div(TOTAL_TIMES*SWITCH_PERIOD,600); //60s * 10n
8mona 2:ea066749e515 86 int tf_min = df_sec.quot;
8mona 2:ea066749e515 87 div_t df_min = div(tf_min,60); //1min=60s
8mona 2:ea066749e515 88 int tf_hr = df_min.quot;
8mona 3:6474ab60854e 89
8mona 3:6474ab60854e 90
8mona 3:6474ab60854e 91 //Motor activation
8mona 2:ea066749e515 92
8mona 5:2b9614aa1171 93 //Up Movement
8mona 5:2b9614aa1171 94 if(WAIT_DELAY <= d_Cycle.rem && d_Cycle.rem < (WAIT_DELAY+UP_DURATION) )
8mona 4:83f7df775d46 95 {
8mona 4:83f7df775d46 96 int accel_index = d_Cycle.rem - WAIT_DELAY;
8mona 4:83f7df775d46 97 if (accel_index < ACCEL_SIZE)
8mona 4:83f7df775d46 98 {
8mona 4:83f7df775d46 99 motor_speed=vol_accel[accel_index] * spd_table[sp_index];
8mona 4:83f7df775d46 100 }
8mona 4:83f7df775d46 101 else
8mona 4:83f7df775d46 102 {
8mona 4:83f7df775d46 103 motor_speed=spd_table[sp_index];
8mona 4:83f7df775d46 104 }
8mona 4:83f7df775d46 105 strcpy(ctext," CW");
8mona 4:83f7df775d46 106 //ctext="CW";
8mona 4:83f7df775d46 107
8mona 4:83f7df775d46 108 }
8mona 4:83f7df775d46 109
8mona 5:2b9614aa1171 110 //UP..stop
8mona 5:2b9614aa1171 111 else if ( (WAIT_DELAY+UP_DURATION)<= d_Cycle.rem && d_Cycle.rem <(2*WAIT_DELAY+UP_DURATION) )
8mona 3:6474ab60854e 112 {
8mona 4:83f7df775d46 113 //wait_ms(20);
8mona 5:2b9614aa1171 114 int accel_index = d_Cycle.rem - (WAIT_DELAY+UP_DURATION);
8mona 4:83f7df775d46 115 if (accel_index< DECEL_SIZE)
8mona 4:83f7df775d46 116 {
8mona 4:83f7df775d46 117 motor_speed=vol_decel[accel_index] * spd_table[sp_index];
8mona 4:83f7df775d46 118 }
8mona 4:83f7df775d46 119 else
8mona 4:83f7df775d46 120 {
8mona 4:83f7df775d46 121 motor_speed=0;
8mona 4:83f7df775d46 122 }
8mona 4:83f7df775d46 123 strcpy(ctext,"OFF");
8mona 4:83f7df775d46 124 }
8mona 4:83f7df775d46 125
8mona 5:2b9614aa1171 126
8mona 5:2b9614aa1171 127 //down..Start
8mona 5:2b9614aa1171 128 else if ( (2*WAIT_DELAY+UP_DURATION) <= d_Cycle.rem && d_Cycle.rem <(2*WAIT_DELAY+UP_DURATION+DOWN_DURATION) )
8mona 4:83f7df775d46 129 {
8mona 5:2b9614aa1171 130 int accel_index = d_Cycle.rem - (2*WAIT_DELAY+UP_DURATION);
8mona 4:83f7df775d46 131 if (accel_index < ACCEL_SIZE)
8mona 4:83f7df775d46 132 {
8mona 5:2b9614aa1171 133 motor_speed= - vol_accel[accel_index] * spd_table[sp_index]*donw_ratio;
8mona 4:83f7df775d46 134 }
8mona 4:83f7df775d46 135 else
8mona 4:83f7df775d46 136 {
8mona 5:2b9614aa1171 137 motor_speed= -spd_table[sp_index]*donw_ratio;
8mona 4:83f7df775d46 138 }
8mona 3:6474ab60854e 139 strcpy(ctext," CW");
8mona 3:6474ab60854e 140 //ctext="CW";
8mona 3:6474ab60854e 141 }
8mona 3:6474ab60854e 142
8mona 5:2b9614aa1171 143
8mona 5:2b9614aa1171 144 //down..stop
8mona 5:2b9614aa1171 145 else if ( (2*WAIT_DELAY+UP_DURATION+DOWN_DURATION) <= d_Cycle.rem )
8mona 2:ea066749e515 146 {
8mona 3:6474ab60854e 147 //wait_ms(20);
8mona 5:2b9614aa1171 148 int accel_index = d_Cycle.rem - ((2*WAIT_DELAY+UP_DURATION+DOWN_DURATION));
8mona 4:83f7df775d46 149 if (accel_index< DECEL_SIZE)
8mona 4:83f7df775d46 150 {
8mona 5:2b9614aa1171 151 motor_speed= -vol_decel[accel_index] * spd_table[sp_index]*donw_ratio;
8mona 4:83f7df775d46 152 }
8mona 4:83f7df775d46 153 else
8mona 4:83f7df775d46 154 {
8mona 4:83f7df775d46 155 motor_speed=0;
8mona 4:83f7df775d46 156 }
8mona 2:ea066749e515 157 strcpy(ctext,"OFF");
8mona 2:ea066749e515 158 }
8mona 2:ea066749e515 159
8mona 2:ea066749e515 160
8mona 2:ea066749e515 161 if(d_Cycle.quot==TOTAL_TIMES)
8mona 2:ea066749e515 162 {
8mona 2:ea066749e515 163 timer_.detach();
8mona 2:ea066749e515 164 }
8mona 3:6474ab60854e 165
8mona 2:ea066749e515 166
8mona 2:ea066749e515 167
MikamiUitOpen 1:d5e9bd9b38ad 168 /*
MikamiUitOpen 0:132eb47d57fb 169 char str[20];
8mona 2:ea066749e515 170 sprintf(str, "%d'%2d\"", msec.quot, msec.rem);
MikamiUitOpen 0:132eb47d57fb 171 lcd_.WriteStringXY(str, 0, 1);
MikamiUitOpen 1:d5e9bd9b38ad 172 */
8mona 2:ea066749e515 173
8mona 2:ea066749e515 174 //1 Row
8mona 2:ea066749e515 175 //lcd_.WriteStringXY("#",0,0);
8mona 3:6474ab60854e 176
8mona 5:2b9614aa1171 177
8mona 5:2b9614aa1171 178
8mona 5:2b9614aa1171 179 lcd_.WriteValueXY("%5d/", d_Cycle.quot,0,0);
8mona 5:2b9614aa1171 180 lcd_.WriteValue("%0dM",TOTAL_TIMES);
8mona 5:2b9614aa1171 181 lcd_.WriteValue("%1.2f", motor_speed);
8mona 5:2b9614aa1171 182 //lcd_.WriteValue("V%0d",motor_speed);
8mona 3:6474ab60854e 183
8mona 2:ea066749e515 184
8mona 2:ea066749e515 185 //2 Row
8mona 2:ea066749e515 186 lcd_.WriteValueXY("%03dh", t_hr, 0, 1);
8mona 2:ea066749e515 187 lcd_.WriteValue("%02dm", d_min.rem);
8mona 2:ea066749e515 188 lcd_.WriteValue("%03ds/", d_sec.rem);
8mona 2:ea066749e515 189 lcd_.WriteValue("%03dh", tf_hr);
8mona 2:ea066749e515 190 lcd_.WriteValue("%02dm", df_min.rem);
8mona 3:6474ab60854e 191
8mona 2:ea066749e515 192 k++;
MikamiUitOpen 0:132eb47d57fb 193 }
MikamiUitOpen 0:132eb47d57fb 194
8mona 2:ea066749e515 195
8mona 2:ea066749e515 196
8mona 2:ea066749e515 197 void flip() {
8mona 2:ea066749e515 198 static bool b = false;
8mona 4:83f7df775d46 199
8mona 2:ea066749e515 200 if(b==false)
8mona 2:ea066749e515 201 {
8mona 4:83f7df775d46 202 timer_.attach(&TimerIsr, 0.05);
8mona 2:ea066749e515 203 }
8mona 2:ea066749e515 204
8mona 2:ea066749e515 205 else
8mona 2:ea066749e515 206 {
8mona 2:ea066749e515 207 timer_.detach();
8mona 3:6474ab60854e 208 //Relay1=0;
8mona 3:6474ab60854e 209 sp_index++;
8mona 3:6474ab60854e 210 if (sp_index == 3)
8mona 3:6474ab60854e 211 {
8mona 3:6474ab60854e 212 sp_index = 0;
8mona 3:6474ab60854e 213 }
8mona 2:ea066749e515 214 }
8mona 2:ea066749e515 215 b=!b;
8mona 2:ea066749e515 216
8mona 2:ea066749e515 217 }
8mona 2:ea066749e515 218
8mona 2:ea066749e515 219
MikamiUitOpen 0:132eb47d57fb 220 int main()
MikamiUitOpen 0:132eb47d57fb 221 {
8mona 5:2b9614aa1171 222
8mona 3:6474ab60854e 223 //motor.speed(0);
8mona 5:2b9614aa1171 224 // Check error and reset
8mona 3:6474ab60854e 225
8mona 2:ea066749e515 226 //LCD_cont=0;
8mona 3:6474ab60854e 227 //if (lcd_.IsConnected()) printf("\r\nConnected");
8mona 3:6474ab60854e 228 //else printf("\r\nDisconnected");
MikamiUitOpen 0:132eb47d57fb 229
MikamiUitOpen 0:132eb47d57fb 230 TimerIsr();
8mona 2:ea066749e515 231 //timer_.attach(&TimerIsr, 0.1);
8mona 2:ea066749e515 232 button1.fall(&flip);
MikamiUitOpen 0:132eb47d57fb 233
8mona 5:2b9614aa1171 234 iqs62x.configure(); // configure the ICD
8mona 5:2b9614aa1171 235
8mona 5:2b9614aa1171 236
8mona 3:6474ab60854e 237 bool status = motor.status();
8mona 3:6474ab60854e 238 if (status & DRV8830_F_FAULT){
8mona 3:6474ab60854e 239 motor.reset();
8mona 3:6474ab60854e 240 }
8mona 3:6474ab60854e 241
8mona 3:6474ab60854e 242 while (true) {
8mona 3:6474ab60854e 243 motor.speed(motor_speed);
8mona 5:2b9614aa1171 244 //iqs62x.readIqsRegisters(0,NUMBER_OF_REGISTERS); // read all the registers
8mona 5:2b9614aa1171 245 //ShowLCD(iqs62x.registers,0x80,0x8f);
8mona 5:2b9614aa1171 246 wait(1);
8mona 5:2b9614aa1171 247 }
8mona 5:2b9614aa1171 248
MikamiUitOpen 0:132eb47d57fb 249 }
MikamiUitOpen 0:132eb47d57fb 250