eLab Team / Mbed OS DcMotorTest

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012921.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 DigitalOut l1_servo_cw(A0);
elab 2:72952132894a 17 DigitalOut l1_servo_ccw(A1);
elab 2:72952132894a 18
elab 2:72952132894a 19 PwmOut l2_dc_motor_en(D6);
elab 2:72952132894a 20 DigitalOut l2_dc_motor_cw(D12);
elab 2:72952132894a 21 DigitalOut l2_dc_motor_ccw(D13);
elab 2:72952132894a 22 //PwmOut l2_servo_en(D9);
elab 2:72952132894a 23 DigitalOut l2_servo_cw(D14);
elab 2:72952132894a 24 DigitalOut l2_servo_ccw(D15);
elab 2:72952132894a 25
elab 2:72952132894a 26 void run_l1_dc_motor_cw(void){
elab 2:72952132894a 27 l1_dc_motor_cw.period_ms(20);
elab 2:72952132894a 28 l1_dc_motor_cw.pulsewidth_us(10000);
elab 2:72952132894a 29 }
elab 2:72952132894a 30 void run_l1_dc_motor_ccw(void){
elab 2:72952132894a 31 l1_dc_motor_ccw.period_ms(20); // shoul be 20 ms (490 Hz) and 10 ms for the servo (980 Hz)
elab 2:72952132894a 32 l1_dc_motor_ccw.pulsewidth_us(20000);
elab 2:72952132894a 33 }
elab 2:72952132894a 34 void run_l2_dc_motor_cw(void){
elab 2:72952132894a 35 l2_dc_motor_en.period_ms(20); // shoul be 20 ms (490 Hz) and 10 ms for the servo (980 Hz)
elab 2:72952132894a 36 l2_dc_motor_en.pulsewidth_us(50000);
elab 2:72952132894a 37 l2_dc_motor_cw=0;
elab 2:72952132894a 38 l2_dc_motor_ccw=1;
elab 2:72952132894a 39 }
elab 2:72952132894a 40 void run_l2_dc_motor_ccw(void){
elab 2:72952132894a 41 l2_dc_motor_en.period_ms(20); // shoul be 20 ms (490 Hz) and 10 ms for the servo (980 Hz)
elab 2:72952132894a 42 l2_dc_motor_en.pulsewidth_us(50000);
elab 2:72952132894a 43 l2_dc_motor_cw=1;
elab 2:72952132894a 44 l2_dc_motor_ccw=0;
elab 2:72952132894a 45 }
elab 2:72952132894a 46
elab 2:72952132894a 47
elab 2:72952132894a 48 void stop_dc_motor(void){
elab 2:72952132894a 49 l1_dc_motor_cw.pulsewidth_us(0);
elab 2:72952132894a 50 l1_dc_motor_ccw.pulsewidth_us(0);
elab 2:72952132894a 51 l2_dc_motor_cw=0;
elab 2:72952132894a 52 l2_dc_motor_ccw=0;
elab 2:72952132894a 53
elab 2:72952132894a 54 }
elab 2:72952132894a 55
elab 2:72952132894a 56 void run_l1_servo_cw(void){
elab 2:72952132894a 57 l1_servo_cw=1;
elab 2:72952132894a 58 l1_servo_ccw=0;
elab 2:72952132894a 59 }
elab 2:72952132894a 60 void run_l1_servo_ccw(void){
elab 2:72952132894a 61 l1_servo_cw=0;
elab 2:72952132894a 62 l1_servo_ccw=1;
elab 2:72952132894a 63 }
elab 2:72952132894a 64
elab 2:72952132894a 65 void run_l2_servo_cw(void){
elab 2:72952132894a 66 l2_servo_cw=1;
elab 2:72952132894a 67 l2_servo_ccw=0;
elab 2:72952132894a 68 }
elab 2:72952132894a 69 void run_l2_servo_ccw(void){
elab 2:72952132894a 70 l2_servo_cw=0;
elab 2:72952132894a 71 l2_servo_ccw=1;
elab 2:72952132894a 72 }
elab 2:72952132894a 73
elab 2:72952132894a 74
elab 2:72952132894a 75 void stop_servo(void){
elab 2:72952132894a 76 l1_servo_cw=0;
elab 2:72952132894a 77 l1_servo_ccw=0;
elab 2:72952132894a 78 l2_servo_cw=0;
elab 2:72952132894a 79 l2_servo_ccw=0;
elab 2:72952132894a 80 }
elab 2:72952132894a 81
elab 2:72952132894a 82
elab 2:72952132894a 83 void test_limite(void){
elab 2:72952132894a 84 end_stop.mode(PullDown);
elab 2:72952132894a 85 while(1){
elab 2:72952132894a 86 printf("lim=%d\n", end_stop.read());
elab 2:72952132894a 87
elab 2:72952132894a 88 if(end_stop.read()==1){
elab 2:72952132894a 89 stop_dc_motor();
elab 2:72952132894a 90 // led=0;
elab 2:72952132894a 91 printf("stop_dc_motor\n");
elab 2:72952132894a 92 }
elab 2:72952132894a 93 else{
elab 2:72952132894a 94 run_l1_dc_motor_ccw();
elab 2:72952132894a 95 printf("motor runs\n");
elab 2:72952132894a 96 // led=1;
elab 2:72952132894a 97 }
elab 2:72952132894a 98 }
elab 2:72952132894a 99
elab 2:72952132894a 100 }
elab 2:72952132894a 101
elab 2:72952132894a 102 int main()
elab 2:72952132894a 103 {
elab 2:72952132894a 104 printf("Hello World !\n");
elab 2:72952132894a 105 unsigned char cmd=0;
elab 2:72952132894a 106 while (true) {
elab 2:72952132894a 107 scanf("%c", &cmd);
elab 2:72952132894a 108 if(cmd == '1')
elab 2:72952132894a 109 {
elab 2:72952132894a 110 cmd = 0;
elab 2:72952132894a 111 stop_dc_motor();
elab 2:72952132894a 112 printf("stop_dc_motor\r\n");
elab 2:72952132894a 113 }
elab 2:72952132894a 114 if(cmd == '2')
elab 2:72952132894a 115 {
elab 2:72952132894a 116 cmd = 0;
elab 2:72952132894a 117 run_l1_dc_motor_cw();
elab 2:72952132894a 118 printf("run_l1_dc_motor_cw\r\n");
elab 2:72952132894a 119 }
elab 2:72952132894a 120 if(cmd == '3')
elab 2:72952132894a 121 {
elab 2:72952132894a 122 cmd = 0;
elab 2:72952132894a 123 run_l1_dc_motor_ccw();
elab 2:72952132894a 124 printf("run_l1_dc_motor_ccw\r\n");
elab 2:72952132894a 125 }
elab 2:72952132894a 126 if(cmd == '4')
elab 2:72952132894a 127 {
elab 2:72952132894a 128 cmd = 0;
elab 2:72952132894a 129 run_l1_servo_cw();
elab 2:72952132894a 130 wait(1);
elab 2:72952132894a 131 stop_servo();
elab 2:72952132894a 132 printf("run_l1_servo_cw\r\n");
elab 2:72952132894a 133 }
elab 2:72952132894a 134 if(cmd == '5')
elab 2:72952132894a 135 {
elab 2:72952132894a 136 cmd = 0;
elab 2:72952132894a 137 run_l1_servo_ccw();
elab 2:72952132894a 138 wait(1);
elab 2:72952132894a 139 stop_servo();
elab 2:72952132894a 140 printf("run_l1_servo_ccw\r\n");
elab 2:72952132894a 141 }
elab 2:72952132894a 142 if(cmd == '6')
elab 2:72952132894a 143 {
elab 2:72952132894a 144 cmd = 0;
elab 2:72952132894a 145 run_l2_dc_motor_cw();
elab 2:72952132894a 146 printf("run_l2_dc_motor_cw\r\n");
elab 2:72952132894a 147 }
elab 2:72952132894a 148 if(cmd == '7')
elab 2:72952132894a 149 {
elab 2:72952132894a 150 cmd = 0;
elab 2:72952132894a 151 run_l2_dc_motor_ccw();
elab 2:72952132894a 152 printf("run_l2_dc_motor_ccw\r\n");
elab 2:72952132894a 153 }
elab 2:72952132894a 154 if(cmd == '8')
elab 2:72952132894a 155 {
elab 2:72952132894a 156 cmd = 0;
elab 2:72952132894a 157 run_l2_servo_cw();
elab 2:72952132894a 158 wait(1);
elab 2:72952132894a 159 stop_servo();
elab 2:72952132894a 160
elab 2:72952132894a 161 // l2_servo_cw=0;
elab 2:72952132894a 162 // l2_servo_ccw=0;
elab 2:72952132894a 163 printf("run_l2_servo_cw\r\n");
elab 2:72952132894a 164 }
elab 2:72952132894a 165
elab 2:72952132894a 166 if(cmd == '9')
elab 2:72952132894a 167 {
elab 2:72952132894a 168 cmd = 0;
elab 2:72952132894a 169 run_l2_servo_ccw();
elab 2:72952132894a 170 wait(1);
elab 2:72952132894a 171 stop_servo();
elab 2:72952132894a 172 // l2_servo_cw=0;
elab 2:72952132894a 173 // l2_servo_ccw=0;
elab 2:72952132894a 174
elab 2:72952132894a 175 printf("run_l2_servo_ccw\r\n");
elab 2:72952132894a 176 }
elab 2:72952132894a 177
elab 2:72952132894a 178
elab 2:72952132894a 179 if(cmd == 'h')
elab 2:72952132894a 180 {
elab 2:72952132894a 181 cmd=0;
elab 2:72952132894a 182 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 183 }
elab 2:72952132894a 184 }
elab 2:72952132894a 185 }