eLab Team / Mbed OS DcMotorTest

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control_working_code.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(A5); // relais fin de course
elab 2:72952132894a 9
elab 2:72952132894a 10 PwmOut l1_dc_motor_cw(D2);
elab 2:72952132894a 11 PwmOut l1_dc_motor_ccw(D3);
elab 2:72952132894a 12 DigitalOut l1_servo_cw(D4);
elab 2:72952132894a 13 DigitalOut l1_servo_ccw(D5);
elab 2:72952132894a 14 PwmOut l2_dc_motor_cw(D6);
elab 2:72952132894a 15 PwmOut l2_dc_motor_ccw(D7);
elab 2:72952132894a 16 DigitalOut l2_servo_cw(D8);
elab 2:72952132894a 17 DigitalOut l2_servo_ccw(D9);
elab 2:72952132894a 18 PwmOut l3_dc_motor_cw(D10);
elab 2:72952132894a 19 PwmOut l3_dc_motor_ccw(D11);
elab 2:72952132894a 20 DigitalOut l3_servo_cw(D12);
elab 2:72952132894a 21 DigitalOut l3_servo_ccw(D13);
elab 2:72952132894a 22
elab 2:72952132894a 23 void run_l1_dc_motor_cw(void){
elab 2:72952132894a 24 l1_dc_motor_cw.period_ms(20);
elab 2:72952132894a 25 l1_dc_motor_cw.pulsewidth_us(4000);
elab 2:72952132894a 26 }
elab 2:72952132894a 27 void run_l1_dc_motor_ccw(void){
elab 2:72952132894a 28 l1_dc_motor_ccw.period_ms(20); // shoul be 20 ms (490 Hz) and 10 ms for the servo (980 Hz)
elab 2:72952132894a 29 l1_dc_motor_ccw.pulsewidth_us(5000);
elab 2:72952132894a 30 }
elab 2:72952132894a 31 void run_l2_dc_motor_cw(void){
elab 2:72952132894a 32 l2_dc_motor_cw.period_ms(20);
elab 2:72952132894a 33 l2_dc_motor_cw.pulsewidth_us(20000);
elab 2:72952132894a 34 }
elab 2:72952132894a 35 void run_l2_dc_motor_ccw(void){
elab 2:72952132894a 36 l2_dc_motor_ccw.period_ms(20); // shoul be 20 ms (490 Hz) and 10 ms for the servo (980 Hz)
elab 2:72952132894a 37 l2_dc_motor_ccw.pulsewidth_us(20000);
elab 2:72952132894a 38 }
elab 2:72952132894a 39 void run_l3_dc_motor_cw(void){
elab 2:72952132894a 40 // l3_dc_motor_cw.period_ms(20);
elab 2:72952132894a 41 // l3_dc_motor_cw.pulsewidth_us(10000);
elab 2:72952132894a 42 }
elab 2:72952132894a 43 void run_l3_dc_motor_ccw(void){
elab 2:72952132894a 44 l3_dc_motor_ccw.period_ms(20); // shoul be 20 ms (490 Hz) and 10 ms for the servo (980 Hz)
elab 2:72952132894a 45 l3_dc_motor_ccw.pulsewidth_us(10000);
elab 2:72952132894a 46 }
elab 2:72952132894a 47 void stop_dc_motor(void){
elab 2:72952132894a 48 l1_dc_motor_cw.pulsewidth_us(0);
elab 2:72952132894a 49 l1_dc_motor_ccw.pulsewidth_us(0);
elab 2:72952132894a 50 l2_dc_motor_cw.pulsewidth_us(0);
elab 2:72952132894a 51 l2_dc_motor_ccw.pulsewidth_us(0);
elab 2:72952132894a 52 l3_dc_motor_cw.pulsewidth_us(0);
elab 2:72952132894a 53 l3_dc_motor_ccw.pulsewidth_us(0);
elab 2:72952132894a 54 }
elab 2:72952132894a 55 void run_l1_servo_cw(void){
elab 2:72952132894a 56 l1_servo_cw=1;
elab 2:72952132894a 57 l1_servo_ccw=0;
elab 2:72952132894a 58 }
elab 2:72952132894a 59 void run_l1_servo_ccw(void){
elab 2:72952132894a 60 l1_servo_cw=0;
elab 2:72952132894a 61 l1_servo_ccw=1;
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 void run_l3_servo_cw(void){
elab 2:72952132894a 72 l3_servo_cw=1;
elab 2:72952132894a 73 l3_servo_ccw=0;
elab 2:72952132894a 74 }
elab 2:72952132894a 75 void run_l3_servo_ccw(void){
elab 2:72952132894a 76 l3_servo_cw=0;
elab 2:72952132894a 77 l3_servo_ccw=1;
elab 2:72952132894a 78 }
elab 2:72952132894a 79 void stop_servo(void){
elab 2:72952132894a 80 l1_servo_cw=0;
elab 2:72952132894a 81 l1_servo_ccw=0;
elab 2:72952132894a 82 l2_servo_cw=0;
elab 2:72952132894a 83 l2_servo_ccw=0;
elab 2:72952132894a 84 l3_servo_cw=0;
elab 2:72952132894a 85 l3_servo_ccw=0;
elab 2:72952132894a 86 }
elab 2:72952132894a 87 void test_limite(void){
elab 2:72952132894a 88 end_stop.mode(PullDown);
elab 2:72952132894a 89 while(1){
elab 2:72952132894a 90 printf("lim=%d\n", end_stop.read());
elab 2:72952132894a 91
elab 2:72952132894a 92 if(end_stop.read()==1){
elab 2:72952132894a 93 stop_dc_motor();
elab 2:72952132894a 94 // led=0;
elab 2:72952132894a 95 printf("stop_dc_motor\n");
elab 2:72952132894a 96 }
elab 2:72952132894a 97 else{
elab 2:72952132894a 98 run_l2_dc_motor_ccw();
elab 2:72952132894a 99 printf("motor runs\n");
elab 2:72952132894a 100 // led=1;
elab 2:72952132894a 101 }
elab 2:72952132894a 102 }
elab 2:72952132894a 103
elab 2:72952132894a 104 }
elab 2:72952132894a 105 int main()
elab 2:72952132894a 106 {
elab 2:72952132894a 107 printf("Hello World !\n");
elab 2:72952132894a 108 unsigned char cmd=0;
elab 2:72952132894a 109 while (true) {
elab 2:72952132894a 110 scanf("%c", &cmd);
elab 2:72952132894a 111 if(cmd == '1')
elab 2:72952132894a 112 {
elab 2:72952132894a 113 cmd = 0;
elab 2:72952132894a 114 stop_dc_motor();
elab 2:72952132894a 115 printf("stop_dc_motor\r\n");
elab 2:72952132894a 116 }
elab 2:72952132894a 117 if(cmd == '2')
elab 2:72952132894a 118 {
elab 2:72952132894a 119 cmd = 0;
elab 2:72952132894a 120 run_l1_dc_motor_cw();
elab 2:72952132894a 121 printf("run_l1_dc_motor_cw\r\n");
elab 2:72952132894a 122 }
elab 2:72952132894a 123 if(cmd == '3')
elab 2:72952132894a 124 {
elab 2:72952132894a 125 cmd = 0;
elab 2:72952132894a 126 run_l1_dc_motor_ccw();
elab 2:72952132894a 127 printf("run_l1_dc_motor_ccw\r\n");
elab 2:72952132894a 128 }
elab 2:72952132894a 129 if(cmd == '4')
elab 2:72952132894a 130 {
elab 2:72952132894a 131 cmd = 0;
elab 2:72952132894a 132 run_l1_servo_cw();
elab 2:72952132894a 133 wait(1);
elab 2:72952132894a 134 stop_servo();
elab 2:72952132894a 135 printf("run_l1_servo_cw\r\n");
elab 2:72952132894a 136 }
elab 2:72952132894a 137 if(cmd == '5')
elab 2:72952132894a 138 {
elab 2:72952132894a 139 cmd = 0;
elab 2:72952132894a 140 run_l1_servo_ccw();
elab 2:72952132894a 141 wait(1);
elab 2:72952132894a 142 stop_servo();
elab 2:72952132894a 143 printf("run_l1_servo_ccw\r\n");
elab 2:72952132894a 144 }
elab 2:72952132894a 145 if(cmd == '6')
elab 2:72952132894a 146 {
elab 2:72952132894a 147 cmd = 0;
elab 2:72952132894a 148 run_l2_dc_motor_cw();
elab 2:72952132894a 149 printf("run_l2_dc_motor_cw\r\n");
elab 2:72952132894a 150 }
elab 2:72952132894a 151 if(cmd == '7')
elab 2:72952132894a 152 {
elab 2:72952132894a 153 cmd = 0;
elab 2:72952132894a 154 run_l2_dc_motor_ccw();
elab 2:72952132894a 155 printf("run_l2_dc_motor_ccw\r\n");
elab 2:72952132894a 156 }
elab 2:72952132894a 157 if(cmd == '8')
elab 2:72952132894a 158 {
elab 2:72952132894a 159 cmd = 0;
elab 2:72952132894a 160 run_l2_servo_cw();
elab 2:72952132894a 161 wait(1);
elab 2:72952132894a 162 stop_servo();
elab 2:72952132894a 163 printf("run_l2_servo_cw\r\n");
elab 2:72952132894a 164 }
elab 2:72952132894a 165 if(cmd == '9')
elab 2:72952132894a 166 {
elab 2:72952132894a 167 cmd = 0;
elab 2:72952132894a 168 run_l2_servo_ccw();
elab 2:72952132894a 169 wait(1);
elab 2:72952132894a 170 stop_servo();
elab 2:72952132894a 171 printf("run_l2_servo_ccw\r\n");
elab 2:72952132894a 172 }
elab 2:72952132894a 173
elab 2:72952132894a 174
elab 2:72952132894a 175
elab 2:72952132894a 176 if(cmd == 'a')
elab 2:72952132894a 177 {
elab 2:72952132894a 178 cmd = 0;
elab 2:72952132894a 179 run_l3_dc_motor_cw();
elab 2:72952132894a 180 printf("run_l3_dc_motor_cw\r\n");
elab 2:72952132894a 181 }
elab 2:72952132894a 182 if(cmd == 'b')
elab 2:72952132894a 183 {
elab 2:72952132894a 184 cmd = 0;
elab 2:72952132894a 185 run_l3_dc_motor_ccw();
elab 2:72952132894a 186 printf("run_l3_dc_motor_ccw\r\n");
elab 2:72952132894a 187 }
elab 2:72952132894a 188 if(cmd == 'c')
elab 2:72952132894a 189 {
elab 2:72952132894a 190 cmd = 0;
elab 2:72952132894a 191 run_l3_servo_cw();
elab 2:72952132894a 192 wait(1);
elab 2:72952132894a 193 stop_servo();
elab 2:72952132894a 194 printf("run_l3_servo_cw\r\n");
elab 2:72952132894a 195 }
elab 2:72952132894a 196 if(cmd == 'd')
elab 2:72952132894a 197 {
elab 2:72952132894a 198 cmd = 0;
elab 2:72952132894a 199 run_l3_servo_ccw();
elab 2:72952132894a 200 wait(1);
elab 2:72952132894a 201 stop_servo();
elab 2:72952132894a 202 printf("run_l3_servo_ccw\r\n");
elab 2:72952132894a 203 }
elab 2:72952132894a 204 if(cmd == 't')
elab 2:72952132894a 205 {
elab 2:72952132894a 206 cmd = 0;
elab 2:72952132894a 207 test_limite();
elab 2:72952132894a 208 printf("test_limite()\r\n");
elab 2:72952132894a 209 }
elab 2:72952132894a 210
elab 2:72952132894a 211 if(cmd == 'h')
elab 2:72952132894a 212 {
elab 2:72952132894a 213 cmd=0;
elab 2:72952132894a 214 printf("1=stop_dc_motor\n");
elab 2:72952132894a 215 printf("2=run_l1_dc_motor_cw; 3=run_l1_dc_motor_ccw; 4=run_l1_servo_cw; 5=run_l1_servo_ccw\n");
elab 2:72952132894a 216 printf("6=run_l2_dc_motor_cw; 7=run_l2_dc_motor_ccw; 8=run_l2_servo_cw; 9=run_l2_servo_ccw\n");
elab 2:72952132894a 217 printf("a=run_l3_dc_motor_cw; b=run_l3_dc_motor_ccw; c=run_l3_servo_cw; d=run_l3_servo_ccw.\n");
elab 2:72952132894a 218 }
elab 2:72952132894a 219 }
elab 2:72952132894a 220 }