eBike / Mbed 2 deprecated ENCODER_TEST3_peddep

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Dependencies:   mbed PID mbed-rtos

main.cpp@0:8a660654d511, 2019-04-20 (annotated)

Committer:
EpicG10
Date:
Sat Apr 20 10:01:22 2019 +0000
Revision:
0:8a660654d511
Child:
1:71457a2df34a
Da Testare

Who changed what in which revision?

UserRevisionLine numberNew contents of line
EpicG10 0:8a660654d511 1 #include "mbed.h"
EpicG10 0:8a660654d511 2 #include "Encoder.h"
EpicG10 0:8a660654d511 3 #include "math.h"
EpicG10 0:8a660654d511 4 #include "Phaserunner.h"
EpicG10 0:8a660654d511 5
EpicG10 0:8a660654d511 6 Encoder encoder;
EpicG10 0:8a660654d511 7 RawSerial pedalL(PC_10, PC_11, 115200);
EpicG10 0:8a660654d511 8 RawSerial pedalR(PC_12, PD_2, 115200);
EpicG10 0:8a660654d511 9 Phaserunner linkspedal(pedalL);
EpicG10 0:8a660654d511 10 Phaserunner rechtspedal(pedalR);
EpicG10 0:8a660654d511 11
EpicG10 0:8a660654d511 12 int main(){
EpicG10 0:8a660654d511 13 DigitalOut PedalL_ON_OFF(PC_14);
EpicG10 0:8a660654d511 14 DigitalOut PedalR_ON_OFF(PC_15);
EpicG10 0:8a660654d511 15
EpicG10 0:8a660654d511 16
EpicG10 0:8a660654d511 17 InterruptIn NullStell(PA_13);
EpicG10 0:8a660654d511 18 Serial pc(USBTX,USBRX);
EpicG10 0:8a660654d511 19 DigitalOut led(LED2);
EpicG10 0:8a660654d511 20 DigitalOut ON_OFF(PH_1);
EpicG10 0:8a660654d511 21
EpicG10 0:8a660654d511 22 DigitalOut Abvorne(PB_7);
EpicG10 0:8a660654d511 23 DigitalOut Abhinten(PC_13);
EpicG10 0:8a660654d511 24
EpicG10 0:8a660654d511 25 ON_OFF = true;
EpicG10 0:8a660654d511 26
EpicG10 0:8a660654d511 27 uint32_t pulses=0, pulsesOld=0;
EpicG10 0:8a660654d511 28 double angle_rad, angle_grad, angleOld=0;
EpicG10 0:8a660654d511 29 float a=0.0f,b=0.0f,beta=0.0f; // Ellipse Parameters
EpicG10 0:8a660654d511 30 float R=0.0f, phi=0.0f;
EpicG10 0:8a660654d511 31
EpicG10 0:8a660654d511 32 PedalL_ON_OFF = true;
EpicG10 0:8a660654d511 33 PedalR_ON_OFF = true;
EpicG10 0:8a660654d511 34 wait(0.2);
EpicG10 0:8a660654d511 35 PedalL_ON_OFF = false;
EpicG10 0:8a660654d511 36 PedalR_ON_OFF = false;
EpicG10 0:8a660654d511 37 wait(0.2);
EpicG10 0:8a660654d511 38 PedalL_ON_OFF = true;
EpicG10 0:8a660654d511 39 PedalR_ON_OFF = true;
EpicG10 0:8a660654d511 40
EpicG10 0:8a660654d511 41
EpicG10 0:8a660654d511 42 led = false;
EpicG10 0:8a660654d511 43 pc.printf("Hello bike");
EpicG10 0:8a660654d511 44 //NullStell.rise(&GetNull);
EpicG10 0:8a660654d511 45 while(1){
EpicG10 0:8a660654d511 46
EpicG10 0:8a660654d511 47 //rev = Encoder.getRevolutions();
EpicG10 0:8a660654d511 48 pulses = encoder.read();
EpicG10 0:8a660654d511 49 angle_rad = encoder.readAngle();
EpicG10 0:8a660654d511 50
EpicG10 0:8a660654d511 51 if(pulses != pulsesOld){
EpicG10 0:8a660654d511 52 pc.printf("pulses: %d\n\r",pulses);
EpicG10 0:8a660654d511 53 }
EpicG10 0:8a660654d511 54 if(angle_rad != angleOld){
EpicG10 0:8a660654d511 55 pc.printf("Angle: %.3f\n\r",angle_rad);
EpicG10 0:8a660654d511 56 }
EpicG10 0:8a660654d511 57 phi = angle_rad;
EpicG10 0:8a660654d511 58 // Calcolation of R
EpicG10 0:8a660654d511 59 float P_Factor = 0.5f;
EpicG10 0:8a660654d511 60 a = 1.0f;
EpicG10 0:8a660654d511 61 b = 0.5f;
EpicG10 0:8a660654d511 62 beta = 0.0f;
EpicG10 0:8a660654d511 63 R=sqrt(pow(a,2) * pow(sin(beta + phi),2) + pow(b,2) * pow(cos(beta + phi),2));
EpicG10 0:8a660654d511 64
EpicG10 0:8a660654d511 65 linkspedal.setTorque(R*P_Factor);
EpicG10 0:8a660654d511 66 rechtspedal.setTorque(R*P_Factor);
EpicG10 0:8a660654d511 67 pc.printf("Torque: %f\n\r",R*P_Factor);
EpicG10 0:8a660654d511 68 angleOld = angle_rad;
EpicG10 0:8a660654d511 69 pulsesOld = pulses;
EpicG10 0:8a660654d511 70
EpicG10 0:8a660654d511 71 wait_ms(100);
EpicG10 0:8a660654d511 72
EpicG10 0:8a660654d511 73 }
EpicG10 0:8a660654d511 74
EpicG10 0:8a660654d511 75
EpicG10 0:8a660654d511 76
EpicG10 0:8a660654d511 77 }