Use IQS62X sensor and move motor by detected angle
Dependencies: DRV8830 IQS62x IQSDisplayTerminal UIT_ACM1602NI mbed
Fork of Nucleo_ACM1602_I2C_DC by
MotorMove.cpp
- Committer:
- 8mona
- Date:
- 2018-01-30
- Revision:
- 12:8464be95bf76
- Parent:
- 11:80b6c5d77073
File content as of revision 12:8464be95bf76:
#include "mbed.h" #include "DRV8830.h" #include "MotorMove.h" #define SPEED_RATIO 1.0 //float vol_decel_ini[DECEL_SIZE] = {1,0.75,0.4,0.15,0.05,0}; float vol_decel_ini[DECEL_SIZE] = {-0.5,0,0,0,0,0}; float vol_accel_ini[ACCEL_SIZE] = {1,1,1,1,1,1}; //float vol_accel_ini[ACCEL_SIZE] = {0.2,0.4,0.6,0.8,.9,1.0}; void MotorMove::up_motor_set(int time_counter, float speed) { bflag_up =1; bflag_down =0; start_time_count=time_counter; accel_count = 0; decel_count = 0; for (int i=0;i<ACCEL_SIZE;i++) { vol_accel[i] = -vol_accel_ini[i]*speed/SPEED_RATIO; } for (int i=0;i<DECEL_SIZE;i++) { vol_decel[i] = -vol_decel_ini[i]*speed/SPEED_RATIO; } }; void MotorMove::down_motor_set(int time_counter, float speed) { bflag_up =0; bflag_down =1; start_time_count=time_counter; accel_count = 0; decel_count = 0; for (int i=0;i<ACCEL_SIZE;i++) { vol_accel[i] = vol_accel_ini[i]*speed/SPEED_RATIO; } for (int i=0;i<DECEL_SIZE;i++) { vol_decel[i] = vol_decel_ini[i]*speed/SPEED_RATIO; } }; float MotorMove::ReturnMotorVol(int time_counter,int bflag_downed, int bflag_upped) { float speed; int time; static int flag_up_stopping=0; static int flag_down_stopping=0; //Check flag for normal mode or brake mode //accel_count MODE if (bflag_up==1 && bflag_upped ==1) { flag_up_stopping=1; //bflag_up==0; } else if (bflag_down==1 && bflag_downed ==1) { flag_down_stopping=1; //bflag_down=0; } if (bflag_up==1 && bflag_upped==0) { if (accel_count<(ACCEL_SIZE-1)) { speed = vol_accel[accel_count]; accel_count++; } else { speed = vol_accel[ACCEL_SIZE-1]; } } else if(bflag_up==1 && bflag_upped==1) { speed=vol_decel[0]; bflag_up=0; } else if (bflag_down==1 && bflag_downed==0) { if (accel_count<(ACCEL_SIZE-1)) { speed = vol_accel[accel_count]; accel_count++; } else { speed = vol_accel[ACCEL_SIZE-1]; } } else if(bflag_down==1 && bflag_downed==1) { speed=vol_decel[0]; bflag_down=0; } else { speed=0; } /* if (bflag_up==1) { if (flag_up_stopping==0) { if (accel_count<(ACCEL_SIZE-1)) { speed = vol_accel[accel_count]; accel_count++; } else { speed = vol_accel[ACCEL_SIZE-1]; } } else if(flag_up_stopping==1) { if (decel_count<=(DECEL_SIZE-1)) { speed = vol_decel[decel_count]; decel_count++; } else { bflag_up=0; speed=0; flag_up_stopping=0; } } } else if (bflag_down==1) { if (flag_down_stopping==0) { if (accel_count<(ACCEL_SIZE-1)) { speed = vol_accel[accel_count]; accel_count++; } else { speed = vol_accel[ACCEL_SIZE-1]; } } else if(flag_down_stopping==1) { if (decel_count<=(DECEL_SIZE-1)) { speed = vol_decel[decel_count]; decel_count++; } else { bflag_down=0; speed=0; flag_down_stopping=0; } } } else { speed=0; } */ //move motor before push stopping switch return speed; };