eLab Team / Mbed OS DcMotorTest

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test.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(D5); // relais fin de course
elab 2:72952132894a 9 //
elab 2:72952132894a 10 //PwmOut l1_dc_motor_en(D3);
elab 2:72952132894a 11 PwmOut l1_dc_motor_cw(D10);
elab 2:72952132894a 12 PwmOut l1_dc_motor_ccw(D11);
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_cw.period_ms(20);
elab 2:72952132894a 26 l1_dc_motor_cw.pulsewidth_us(10000);
elab 2:72952132894a 27 }
elab 2:72952132894a 28 void run_l1_dc_motor_ccw(void){
elab 2:72952132894a 29 l1_dc_motor_ccw.period_ms(20); // shoul be 20 ms (490 Hz) and 10 ms for the servo (980 Hz)
elab 2:72952132894a 30 l1_dc_motor_ccw.pulsewidth_us(20000);
elab 2:72952132894a 31 }
elab 2:72952132894a 32 void run_l2_dc_motor_cw(void){
elab 2:72952132894a 33 l2_dc_motor_en.period_ms(20); // shoul be 20 ms (490 Hz) and 10 ms for the servo (980 Hz)
elab 2:72952132894a 34 l2_dc_motor_en.pulsewidth_us(50000);
elab 2:72952132894a 35 l2_dc_motor_cw=0;
elab 2:72952132894a 36 l2_dc_motor_ccw=1;
elab 2:72952132894a 37 }
elab 2:72952132894a 38 void run_l2_dc_motor_ccw(void){
elab 2:72952132894a 39 l2_dc_motor_en.period_ms(20); // shoul be 20 ms (490 Hz) and 10 ms for the servo (980 Hz)
elab 2:72952132894a 40 l2_dc_motor_en.pulsewidth_us(50000);
elab 2:72952132894a 41 l2_dc_motor_cw=1;
elab 2:72952132894a 42 l2_dc_motor_ccw=0;
elab 2:72952132894a 43 }
elab 2:72952132894a 44
elab 2:72952132894a 45
elab 2:72952132894a 46 void stop_dc_motor(void){
elab 2:72952132894a 47 l1_dc_motor_cw.pulsewidth_us(0);
elab 2:72952132894a 48 l1_dc_motor_ccw.pulsewidth_us(0);
elab 2:72952132894a 49 l2_dc_motor_cw=0;
elab 2:72952132894a 50 l2_dc_motor_ccw=0;
elab 2:72952132894a 51
elab 2:72952132894a 52 }
elab 2:72952132894a 53
elab 2:72952132894a 54 void run_l1_servo_cw(void){
elab 2:72952132894a 55 l1_servo_cw=1;
elab 2:72952132894a 56 l1_servo_ccw=0;
elab 2:72952132894a 57 }
elab 2:72952132894a 58 void run_l1_servo_ccw(void){
elab 2:72952132894a 59 l1_servo_cw=0;
elab 2:72952132894a 60 l1_servo_ccw=1;
elab 2:72952132894a 61 }
elab 2:72952132894a 62
elab 2:72952132894a 63 void run_l2_servo_cw(void){
elab 2:72952132894a 64 l2_servo_cw=1;
elab 2:72952132894a 65 l2_servo_ccw=0;
elab 2:72952132894a 66 }
elab 2:72952132894a 67 void run_l2_servo_ccw(void){
elab 2:72952132894a 68 l2_servo_cw=0;
elab 2:72952132894a 69 l2_servo_ccw=1;
elab 2:72952132894a 70 }
elab 2:72952132894a 71
elab 2:72952132894a 72
elab 2:72952132894a 73 void stop_servo(void){
elab 2:72952132894a 74 l1_servo_cw=0;
elab 2:72952132894a 75 l1_servo_ccw=0;
elab 2:72952132894a 76 l2_servo_cw=0;
elab 2:72952132894a 77 l2_servo_ccw=0;
elab 2:72952132894a 78 }
elab 2:72952132894a 79
elab 2:72952132894a 80
elab 2:72952132894a 81 void test_limite(void){
elab 2:72952132894a 82 end_stop.mode(PullDown);
elab 2:72952132894a 83 while(1){
elab 2:72952132894a 84 printf("lim=%d\n", end_stop.read());
elab 2:72952132894a 85
elab 2:72952132894a 86 if(end_stop.read()==1){
elab 2:72952132894a 87 stop_dc_motor();
elab 2:72952132894a 88 // led=0;
elab 2:72952132894a 89 printf("stop_dc_motor\n");
elab 2:72952132894a 90 }
elab 2:72952132894a 91 else{
elab 2:72952132894a 92 run_l1_dc_motor_ccw();
elab 2:72952132894a 93 printf("motor runs\n");
elab 2:72952132894a 94 // led=1;
elab 2:72952132894a 95 }
elab 2:72952132894a 96 }
elab 2:72952132894a 97
elab 2:72952132894a 98 }
elab 2:72952132894a 99
elab 2:72952132894a 100 int main()
elab 2:72952132894a 101 {
elab 2:72952132894a 102 printf("Hello World !\n");
elab 2:72952132894a 103 unsigned char cmd=0;
elab 2:72952132894a 104 while (true) {
elab 2:72952132894a 105 scanf("%c", &cmd);
elab 2:72952132894a 106 if(cmd == '1')
elab 2:72952132894a 107 {
elab 2:72952132894a 108 cmd = 0;
elab 2:72952132894a 109 stop_dc_motor();
elab 2:72952132894a 110 printf("stop_dc_motor\r\n");
elab 2:72952132894a 111 }
elab 2:72952132894a 112 if(cmd == '2')
elab 2:72952132894a 113 {
elab 2:72952132894a 114 cmd = 0;
elab 2:72952132894a 115 run_l1_dc_motor_cw();
elab 2:72952132894a 116 printf("run_l1_dc_motor_cw\r\n");
elab 2:72952132894a 117 }
elab 2:72952132894a 118 if(cmd == '3')
elab 2:72952132894a 119 {
elab 2:72952132894a 120 cmd = 0;
elab 2:72952132894a 121 run_l1_dc_motor_ccw();
elab 2:72952132894a 122 printf("run_l1_dc_motor_ccw\r\n");
elab 2:72952132894a 123 }
elab 2:72952132894a 124 if(cmd == '4')
elab 2:72952132894a 125 {
elab 2:72952132894a 126 cmd = 0;
elab 2:72952132894a 127 run_l1_servo_cw();
elab 2:72952132894a 128 wait(1);
elab 2:72952132894a 129 stop_servo();
elab 2:72952132894a 130 printf("run_l1_servo_cw\r\n");
elab 2:72952132894a 131 }
elab 2:72952132894a 132 if(cmd == '5')
elab 2:72952132894a 133 {
elab 2:72952132894a 134 cmd = 0;
elab 2:72952132894a 135 run_l1_servo_ccw();
elab 2:72952132894a 136 wait(1);
elab 2:72952132894a 137 stop_servo();
elab 2:72952132894a 138 printf("run_l1_servo_ccw\r\n");
elab 2:72952132894a 139 }
elab 2:72952132894a 140 if(cmd == '6')
elab 2:72952132894a 141 {
elab 2:72952132894a 142 cmd = 0;
elab 2:72952132894a 143 run_l2_dc_motor_cw();
elab 2:72952132894a 144 printf("run_l2_dc_motor_cw\r\n");
elab 2:72952132894a 145 }
elab 2:72952132894a 146 if(cmd == '7')
elab 2:72952132894a 147 {
elab 2:72952132894a 148 cmd = 0;
elab 2:72952132894a 149 run_l2_dc_motor_ccw();
elab 2:72952132894a 150 printf("run_l2_dc_motor_ccw\r\n");
elab 2:72952132894a 151 }
elab 2:72952132894a 152 if(cmd == '8')
elab 2:72952132894a 153 {
elab 2:72952132894a 154 cmd = 0;
elab 2:72952132894a 155 run_l2_servo_cw();
elab 2:72952132894a 156 wait(1);
elab 2:72952132894a 157 stop_servo();
elab 2:72952132894a 158
elab 2:72952132894a 159 // l2_servo_cw=0;
elab 2:72952132894a 160 // l2_servo_ccw=0;
elab 2:72952132894a 161 printf("run_l2_servo_cw\r\n");
elab 2:72952132894a 162 }
elab 2:72952132894a 163
elab 2:72952132894a 164 if(cmd == '9')
elab 2:72952132894a 165 {
elab 2:72952132894a 166 cmd = 0;
elab 2:72952132894a 167 run_l2_servo_ccw();
elab 2:72952132894a 168 wait(1);
elab 2:72952132894a 169 stop_servo();
elab 2:72952132894a 170 // l2_servo_cw=0;
elab 2:72952132894a 171 // l2_servo_ccw=0;
elab 2:72952132894a 172
elab 2:72952132894a 173 printf("run_l2_servo_ccw\r\n");
elab 2:72952132894a 174 }
elab 2:72952132894a 175
elab 2:72952132894a 176
elab 2:72952132894a 177 if(cmd == 'h')
elab 2:72952132894a 178 {
elab 2:72952132894a 179 cmd=0;
elab 2:72952132894a 180 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 181 }
elab 2:72952132894a 182 }
elab 2:72952132894a 183 }