eLab Team / Mbed OS DcMotorTest

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backup0.txt@2:72952132894a, 2021-02-20 (annotated)

Committer:
elab
Date:
Sat Feb 20 09:04:41 2021 +0000
Revision:
2:72952132894a
Version 1 of the smart marbles factory

Who changed what in which revision?

UserRevisionLine numberNew contents of line
elab 2:72952132894a 1 #include "mbed.h"
elab 2:72952132894a 2 #include "stdio.h"
elab 2:72952132894a 3
elab 2:72952132894a 4 //DigitalOut led(LED1);
elab 2:72952132894a 5
elab 2:72952132894a 6 Serial pc(USBTX, USBRX);
elab 2:72952132894a 7 DigitalIn my_button(USER_BUTTON); // Use the user button to switch from dc motor to servo motor and vice versa
elab 2:72952132894a 8 DigitalIn end_stop(D11); // relais fin de course
elab 2:72952132894a 9 //
elab 2:72952132894a 10 PwmOut l1_dc_motor_en(D3);
elab 2:72952132894a 11 DigitalOut l1_dc_motor_cw(D2);
elab 2:72952132894a 12 DigitalOut l1_dc_motor_ccw(D4);
elab 2:72952132894a 13 //PwmOut l1_servo_en(D5);
elab 2:72952132894a 14 DigitalOut l1_servo_cw(D7);
elab 2:72952132894a 15 DigitalOut l1_servo_ccw(D8);
elab 2:72952132894a 16
elab 2:72952132894a 17 PwmOut l2_dc_motor_en(D6);
elab 2:72952132894a 18 DigitalOut l2_dc_motor_cw(D12);
elab 2:72952132894a 19 DigitalOut l2_dc_motor_ccw(D13);
elab 2:72952132894a 20 //PwmOut l2_servo_en(D9);
elab 2:72952132894a 21 DigitalOut l2_servo_cw(D14);
elab 2:72952132894a 22 DigitalOut l2_servo_ccw(D15);
elab 2:72952132894a 23
elab 2:72952132894a 24 void run_l1_dc_motor_cw(void){
elab 2:72952132894a 25 l1_dc_motor_en.period_ms(20); // shoul be 20 ms (490 Hz) and 10 ms for the servo (980 Hz)
elab 2:72952132894a 26 l1_dc_motor_en.pulsewidth_us(3000);
elab 2:72952132894a 27 l1_dc_motor_cw=0;
elab 2:72952132894a 28 l1_dc_motor_ccw=1;
elab 2:72952132894a 29 }
elab 2:72952132894a 30 void run_l1_dc_motor_ccw(void){
elab 2:72952132894a 31 l1_dc_motor_en.period_ms(20); // shoul be 20 ms (490 Hz) and 10 ms for the servo (980 Hz)
elab 2:72952132894a 32 l1_dc_motor_en.pulsewidth_us(3000);
elab 2:72952132894a 33 l1_dc_motor_cw=1;
elab 2:72952132894a 34 l1_dc_motor_ccw=0;
elab 2:72952132894a 35 }
elab 2:72952132894a 36 void run_l2_dc_motor_cw(void){
elab 2:72952132894a 37 l2_dc_motor_en.period_ms(20); // shoul be 20 ms (490 Hz) and 10 ms for the servo (980 Hz)
elab 2:72952132894a 38 l2_dc_motor_en.pulsewidth_us(50000);
elab 2:72952132894a 39 l2_dc_motor_cw=0;
elab 2:72952132894a 40 l2_dc_motor_ccw=1;
elab 2:72952132894a 41 }
elab 2:72952132894a 42 void run_l2_dc_motor_ccw(void){
elab 2:72952132894a 43 l2_dc_motor_en.period_ms(20); // shoul be 20 ms (490 Hz) and 10 ms for the servo (980 Hz)
elab 2:72952132894a 44 l2_dc_motor_en.pulsewidth_us(50000);
elab 2:72952132894a 45 l2_dc_motor_cw=1;
elab 2:72952132894a 46 l2_dc_motor_ccw=0;
elab 2:72952132894a 47 }
elab 2:72952132894a 48
elab 2:72952132894a 49
elab 2:72952132894a 50 void stop_dc_motor(void){
elab 2:72952132894a 51 l1_dc_motor_cw=0;
elab 2:72952132894a 52 l1_dc_motor_ccw=0;
elab 2:72952132894a 53 l2_dc_motor_cw=0;
elab 2:72952132894a 54 l2_dc_motor_ccw=0;
elab 2:72952132894a 55
elab 2:72952132894a 56 }
elab 2:72952132894a 57
elab 2:72952132894a 58 void run_l1_servo_cw(void){
elab 2:72952132894a 59 l1_servo_cw=1;
elab 2:72952132894a 60 l1_servo_ccw=0;
elab 2:72952132894a 61 }
elab 2:72952132894a 62 void run_l1_servo_ccw(void){
elab 2:72952132894a 63 l1_servo_cw=0;
elab 2:72952132894a 64 l1_servo_ccw=1;
elab 2:72952132894a 65 }
elab 2:72952132894a 66
elab 2:72952132894a 67 void run_l2_servo_cw(void){
elab 2:72952132894a 68 l2_servo_cw=1;
elab 2:72952132894a 69 l2_servo_ccw=0;
elab 2:72952132894a 70 }
elab 2:72952132894a 71 void run_l2_servo_ccw(void){
elab 2:72952132894a 72 l2_servo_cw=0;
elab 2:72952132894a 73 l2_servo_ccw=1;
elab 2:72952132894a 74 }
elab 2:72952132894a 75
elab 2:72952132894a 76
elab 2:72952132894a 77 void stop_servo(void){
elab 2:72952132894a 78 l1_servo_cw=0;
elab 2:72952132894a 79 l1_servo_ccw=0;
elab 2:72952132894a 80 l2_servo_cw=0;
elab 2:72952132894a 81 l2_servo_ccw=0;
elab 2:72952132894a 82 }
elab 2:72952132894a 83
elab 2:72952132894a 84
elab 2:72952132894a 85 void test_limite(void){
elab 2:72952132894a 86 end_stop.mode(PullDown);
elab 2:72952132894a 87 while(1){
elab 2:72952132894a 88 printf("lim=%d\n", end_stop.read());
elab 2:72952132894a 89
elab 2:72952132894a 90 if(end_stop.read()==1){
elab 2:72952132894a 91 stop_dc_motor();
elab 2:72952132894a 92 // led=0;
elab 2:72952132894a 93 printf("stop_dc_motor\n");
elab 2:72952132894a 94 }
elab 2:72952132894a 95 else{
elab 2:72952132894a 96 run_l1_dc_motor_ccw();
elab 2:72952132894a 97 printf("motor runs\n");
elab 2:72952132894a 98 // led=1;
elab 2:72952132894a 99 }
elab 2:72952132894a 100 }
elab 2:72952132894a 101
elab 2:72952132894a 102 }
elab 2:72952132894a 103
elab 2:72952132894a 104 int main()
elab 2:72952132894a 105 {
elab 2:72952132894a 106 printf("Hello World !\n");
elab 2:72952132894a 107 unsigned char cmd=0;
elab 2:72952132894a 108 while (true) {
elab 2:72952132894a 109 scanf("%c", &cmd);
elab 2:72952132894a 110 if(cmd == '1')
elab 2:72952132894a 111 {
elab 2:72952132894a 112 cmd = 0;
elab 2:72952132894a 113 stop_dc_motor();
elab 2:72952132894a 114 printf("stop_dc_motor\r\n");
elab 2:72952132894a 115 }
elab 2:72952132894a 116 if(cmd == '2')
elab 2:72952132894a 117 {
elab 2:72952132894a 118 cmd = 0;
elab 2:72952132894a 119 run_l1_dc_motor_cw();
elab 2:72952132894a 120 printf("run_l1_dc_motor_cw\r\n");
elab 2:72952132894a 121 }
elab 2:72952132894a 122 if(cmd == '3')
elab 2:72952132894a 123 {
elab 2:72952132894a 124 cmd = 0;
elab 2:72952132894a 125 run_l1_dc_motor_ccw();
elab 2:72952132894a 126 printf("run_l1_dc_motor_ccw\r\n");
elab 2:72952132894a 127 }
elab 2:72952132894a 128 if(cmd == '4')
elab 2:72952132894a 129 {
elab 2:72952132894a 130 cmd = 0;
elab 2:72952132894a 131 run_l1_servo_cw();
elab 2:72952132894a 132 wait(1);
elab 2:72952132894a 133 stop_servo();
elab 2:72952132894a 134 printf("run_l1_servo_cw\r\n");
elab 2:72952132894a 135 }
elab 2:72952132894a 136 if(cmd == '5')
elab 2:72952132894a 137 {
elab 2:72952132894a 138 cmd = 0;
elab 2:72952132894a 139 run_l1_servo_ccw();
elab 2:72952132894a 140 wait(1);
elab 2:72952132894a 141 stop_servo();
elab 2:72952132894a 142 printf("run_l1_servo_ccw\r\n");
elab 2:72952132894a 143 }
elab 2:72952132894a 144 if(cmd == '6')
elab 2:72952132894a 145 {
elab 2:72952132894a 146 cmd = 0;
elab 2:72952132894a 147 run_l2_dc_motor_cw();
elab 2:72952132894a 148 printf("run_l2_dc_motor_cw\r\n");
elab 2:72952132894a 149 }
elab 2:72952132894a 150 if(cmd == '7')
elab 2:72952132894a 151 {
elab 2:72952132894a 152 cmd = 0;
elab 2:72952132894a 153 run_l2_dc_motor_ccw();
elab 2:72952132894a 154 printf("run_l2_dc_motor_ccw\r\n");
elab 2:72952132894a 155 }
elab 2:72952132894a 156 if(cmd == '8')
elab 2:72952132894a 157 {
elab 2:72952132894a 158 cmd = 0;
elab 2:72952132894a 159 run_l2_servo_cw();
elab 2:72952132894a 160 wait(1);
elab 2:72952132894a 161 stop_servo();
elab 2:72952132894a 162
elab 2:72952132894a 163 // l2_servo_cw=0;
elab 2:72952132894a 164 // l2_servo_ccw=0;
elab 2:72952132894a 165 printf("run_l2_servo_cw\r\n");
elab 2:72952132894a 166 }
elab 2:72952132894a 167
elab 2:72952132894a 168 if(cmd == '9')
elab 2:72952132894a 169 {
elab 2:72952132894a 170 cmd = 0;
elab 2:72952132894a 171 run_l2_servo_ccw();
elab 2:72952132894a 172 wait(1);
elab 2:72952132894a 173 stop_servo();
elab 2:72952132894a 174 // l2_servo_cw=0;
elab 2:72952132894a 175 // l2_servo_ccw=0;
elab 2:72952132894a 176
elab 2:72952132894a 177 printf("run_l2_servo_ccw\r\n");
elab 2:72952132894a 178 }
elab 2:72952132894a 179
elab 2:72952132894a 180
elab 2:72952132894a 181 if(cmd == 'h')
elab 2:72952132894a 182 {
elab 2:72952132894a 183 cmd=0;
elab 2:72952132894a 184 printf("1=stop_dc_motor; 2=run_l1_dc_motor_cw; 3=run_l1_dc_motor_ccw; 4=run_l1_servo_cw; 5=run_l1_servo_ccw, 6=run_l1_dc_motor_cw; 7=run_l1_dc_motor_ccw\n");
elab 2:72952132894a 185 }
elab 2:72952132894a 186 }
elab 2:72952132894a 187 }