group14 - k9 / Mbed 2 deprecated motortest_button

press buttons on biorobotics shield to rotate motor in certain direction

Dependencies:   Encoder HIDScope MODSERIAL mbed

main.cpp@2:1656c259189f, 2015-09-23 (annotated)

Committer:
Vigilance88
Date:
Wed Sep 23 09:16:11 2015 +0000
Revision:
2:1656c259189f
Parent:
1:e0c4625bbbab 
using buttons on shield to run in a certain direction

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Vigilance88 0:4bfe85fb30ab 1 #include "mbed.h"
Vigilance88 0:4bfe85fb30ab 2 #include "encoder.h"
Vigilance88 2:1656c259189f 3 #include "MODSERIAL.h"
Vigilance88 0:4bfe85fb30ab 4
Vigilance88 2:1656c259189f 5 volatile bool looptimerflag;
Vigilance88 2:1656c259189f 6
Vigilance88 2:1656c259189f 7 void setlooptimerflag(void)
Vigilance88 0:4bfe85fb30ab 8 {
Vigilance88 2:1656c259189f 9 looptimerflag = true;
Vigilance88 2:1656c259189f 10 }
Vigilance88 2:1656c259189f 11
Vigilance88 2:1656c259189f 12 int main(){
Vigilance88 2:1656c259189f 13 //VARIABLES
Vigilance88 2:1656c259189f 14 AnalogIn potmeter(A1);
Vigilance88 2:1656c259189f 15 AnalogIn potmeter2(A0);
Vigilance88 2:1656c259189f 16 MODSERIAL pc(USBTX,USBRX);
Vigilance88 2:1656c259189f 17 DigitalIn button(PTA1);
Vigilance88 2:1656c259189f 18 DigitalIn button1(PTB9);
Vigilance88 2:1656c259189f 19
Vigilance88 2:1656c259189f 20 Encoder motor1(D13,D12,true); // channel A and B from encoder, true - getSpeed works
Vigilance88 2:1656c259189f 21 PwmOut pwm_motor1(D6); // D4 and D5 = motor 2, D7 and D6 = motor 2
Vigilance88 2:1656c259189f 22 DigitalOut dir_motor1(D7); //
Vigilance88 2:1656c259189f 23
Vigilance88 2:1656c259189f 24 Encoder motor2(D10,D9,true); // channel A and B from encoder, true - getSpeed works
Vigilance88 2:1656c259189f 25 PwmOut pwm_motor2(D5); // D4 and D5 = motor 2, D7 and D6 = motor 2
Vigilance88 2:1656c259189f 26 DigitalOut dir_motor2(D4); //
Vigilance88 2:1656c259189f 27
Vigilance88 2:1656c259189f 28 // MOTOR1
Vigilance88 2:1656c259189f 29 float goal;
Vigilance88 2:1656c259189f 30 float pwm_to_motor;
Vigilance88 2:1656c259189f 31 // MOTOR2
Vigilance88 2:1656c259189f 32 float goal2;
Vigilance88 2:1656c259189f 33 float pwm_to_motor2;
Vigilance88 2:1656c259189f 34
Vigilance88 2:1656c259189f 35 //CODE
Vigilance88 0:4bfe85fb30ab 36 pc.baud(9600);
Vigilance88 0:4bfe85fb30ab 37
Vigilance88 2:1656c259189f 38 //pwm_motor1.write(0.2f); // Speed
Vigilance88 2:1656c259189f 39 //dir_motor1.write(1); // Direction
Vigilance88 2:1656c259189f 40
Vigilance88 2:1656c259189f 41 Ticker looptimer;
Vigilance88 2:1656c259189f 42 looptimer.attach(setlooptimerflag,0.01);
Vigilance88 2:1656c259189f 43
Vigilance88 2:1656c259189f 44 while (1) {
Vigilance88 2:1656c259189f 45 while(looptimerflag != true);
Vigilance88 2:1656c259189f 46 looptimerflag = false;
Vigilance88 0:4bfe85fb30ab 47
Vigilance88 2:1656c259189f 48 //MOTOR1
Vigilance88 2:1656c259189f 49 if (button.read() < 0.5) { //button pressed - direction
Vigilance88 2:1656c259189f 50 dir_motor2.write(1);
Vigilance88 2:1656c259189f 51 pwm_motor2.write(0.5);
Vigilance88 2:1656c259189f 52 pc.printf("position = %d \r\n", motor2.getPosition());
Vigilance88 2:1656c259189f 53 }
Vigilance88 2:1656c259189f 54 else if(button1.read() < 0.5) { //button pressed - other direction
Vigilance88 2:1656c259189f 55 dir_motor2.write(0);
Vigilance88 2:1656c259189f 56 pwm_motor2.write(0.5);
Vigilance88 2:1656c259189f 57 pc.printf("position = %d \r\n", motor2.getPosition());
Vigilance88 2:1656c259189f 58 }
Vigilance88 2:1656c259189f 59 else { //button not pressed
Vigilance88 2:1656c259189f 60 dir_motor2.write(0);
Vigilance88 2:1656c259189f 61 pwm_motor2.write(0);
Vigilance88 2:1656c259189f 62 pc.printf("position = %d \r\n", motor2.getPosition());
Vigilance88 2:1656c259189f 63 }
Vigilance88 2:1656c259189f 64
Vigilance88 2:1656c259189f 65 // pc.printf("pos: %d, speed %f \r\n",motor1.getPosition(), motor1.getSpeed());
Vigilance88 0:4bfe85fb30ab 66 }
Vigilance88 0:4bfe85fb30ab 67 }