first commit
Dependencies: PM2_Libary
Diff: main.cpp
- Revision:
- 9:f10b974d01e0
- Parent:
- 8:9bb806a7f585
- Child:
- 10:c5d85e35758c
diff -r 9bb806a7f585 -r f10b974d01e0 main.cpp --- a/main.cpp Tue Apr 06 12:48:09 2021 +0200 +++ b/main.cpp Tue Apr 06 12:19:34 2021 +0000 @@ -5,6 +5,7 @@ #include "EncoderCounter.h" #include "Servo.h" #include "SpeedController.h" +#include "FastPWM.h" // #include "FATFileSystem.h" // #include "SDBlockDevice.h" @@ -26,10 +27,10 @@ float dist = 0.0f; /* create pwm objects */ -PwmOut pwmOut_m0(PB_13); -PwmOut pwmOut_m1(PA_9); -PwmOut pwmOut_m2(PA_10); -float Ts_pwm = 0.00005f; +FastPWM pwmOut_m0(PB_13); +FastPWM pwmOut_m1(PA_9); +FastPWM pwmOut_m2(PA_10); +double Ts_pwm_s = 0.00005; // this needs to be a double value /* create enable dc motor digital out object */ DigitalOut enable_motors(PB_15); /* create encoder read objects */ @@ -55,26 +56,22 @@ // FATFileSystem fs("fs", &sd); int main() -{ +{ user_button.fall(&button_fall); user_button.rise(&button_rise); loop_timer.start(); /* initialize pwm */ - pwmOut_m0.period(Ts_pwm); - pwmOut_m1.period(Ts_pwm); - pwmOut_m2.period(Ts_pwm); + pwmOut_m2.period(Ts_pwm_s); /* set pwm output zero at the beginning, range: 0...1 -> u_min...u_max */ - pwmOut_m1.write(0.5f); - pwmOut_m0.write(0.5f); - pwmOut_m2.write(0.5f); + pwmOut_m2.write(0.5); /* enable driver DC motors */ enable_motors = 1; /* initialize servo */ servo_0.Enable(servoPeriod_mus_0, servoHolePeriod_mus); // 1 ms / 20 ms servo_1.Enable(servoPeriod_mus_0, servoHolePeriod_mus); - + /* // example code for sd card, not tested from pmic, 02.04.2021 printf("Test writing... "); @@ -109,9 +106,9 @@ /* read analog input */ dist = analogIn.read() * 3.3f; - speedController_m0.setDesiredSpeedRPS( 0.5f); - speedController_m1.setDesiredSpeedRPS( 0.5f); - pwmOut_m2.write(0.75f); + speedController_m0.setDesiredSpeedRPS( 1.0f); + speedController_m1.setDesiredSpeedRPS(-0.5f); + pwmOut_m2.write(0.75); servo_0.SetPosition(servoPeriod_mus_0); servo_1.SetPosition(servoPeriod_mus_1); @@ -125,14 +122,14 @@ /* visual feedback that the main task is executed */ led = !led; - + } else { dist = 0.0f; - speedController_m0.setDesiredSpeedRPS(0.2f); - speedController_m1.setDesiredSpeedRPS(0.2f); - pwmOut_m2.write(0.5f); + speedController_m0.setDesiredSpeedRPS(0.0f); + speedController_m1.setDesiredSpeedRPS(0.0f); + pwmOut_m2.write(0.5); servoPeriod_mus_0 = 0; servoPeriod_mus_1 = 0; @@ -146,9 +143,9 @@ /* do only output what's really necessary*/ printf("%3.3e, %3.3e, %3d, %3d; \r\n", speedController_m0.getSpeedRPS(), - speedController_m1.getSpeedRPS(), - servoPeriod_mus_0, - servoPeriod_mus_1); + speedController_m1.getSpeedRPS(), + servoPeriod_mus_0, + servoPeriod_mus_1); /* ------------- stop hacking ------------- -------------*/