group14 - k9 / Mbed 2 deprecated motortest_pcontrol

using potmeters as setpoint

Dependencies:   Encoder HIDScope MODSERIAL mbed

main.cpp@2:ee58b6e8eb67, 2015-09-23 (annotated)

Committer:
Vigilance88
Date:
Wed Sep 23 09:21:36 2015 +0000
Revision:
2:ee58b6e8eb67
Parent:
1:e0c4625bbbab 
pcontrol test

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:ee58b6e8eb67 3 #include "MODSERIAL.h"
Vigilance88 0:4bfe85fb30ab 4
Vigilance88 2:ee58b6e8eb67 5 volatile bool looptimerflag;
Vigilance88 2:ee58b6e8eb67 6
Vigilance88 2:ee58b6e8eb67 7 void setlooptimerflag(void)
Vigilance88 0:4bfe85fb30ab 8 {
Vigilance88 2:ee58b6e8eb67 9 looptimerflag = true;
Vigilance88 2:ee58b6e8eb67 10 }
Vigilance88 2:ee58b6e8eb67 11
Vigilance88 2:ee58b6e8eb67 12 int main(){
Vigilance88 2:ee58b6e8eb67 13 //VARIABLES
Vigilance88 2:ee58b6e8eb67 14 AnalogIn potmeter(A1);
Vigilance88 2:ee58b6e8eb67 15 AnalogIn potmeter2(A0);
Vigilance88 2:ee58b6e8eb67 16 DigitalIn button(D8);
Vigilance88 2:ee58b6e8eb67 17 MODSERIAL pc(USBTX,USBRX);
Vigilance88 2:ee58b6e8eb67 18
Vigilance88 2:ee58b6e8eb67 19 Encoder motor1(D13,D12,true); // channel A and B from encoder, true - getSpeed works
Vigilance88 2:ee58b6e8eb67 20 PwmOut pwm_motor1(D6); // D4 and D5 = motor 2, D7 and D6 = motor 2
Vigilance88 2:ee58b6e8eb67 21 DigitalOut dir_motor1(D7); //
Vigilance88 2:ee58b6e8eb67 22
Vigilance88 2:ee58b6e8eb67 23 Encoder motor2(D10,D9,true); // channel A and B from encoder, true - getSpeed works
Vigilance88 2:ee58b6e8eb67 24 PwmOut pwm_motor2(D5); // D4 and D5 = motor 2, D7 and D6 = motor 2
Vigilance88 2:ee58b6e8eb67 25 DigitalOut dir_motor2(D4); //
Vigilance88 2:ee58b6e8eb67 26
Vigilance88 2:ee58b6e8eb67 27 // MOTOR1
Vigilance88 2:ee58b6e8eb67 28 float goal;
Vigilance88 2:ee58b6e8eb67 29 float pwm_to_motor;
Vigilance88 2:ee58b6e8eb67 30 // MOTOR2
Vigilance88 2:ee58b6e8eb67 31 float goal2;
Vigilance88 2:ee58b6e8eb67 32 float pwm_to_motor2;
Vigilance88 2:ee58b6e8eb67 33
Vigilance88 2:ee58b6e8eb67 34 //CODE
Vigilance88 0:4bfe85fb30ab 35 pc.baud(9600);
Vigilance88 0:4bfe85fb30ab 36
Vigilance88 2:ee58b6e8eb67 37 //pwm_motor1.write(0.2f); // Speed
Vigilance88 2:ee58b6e8eb67 38 //dir_motor1.write(1); // Direction
Vigilance88 2:ee58b6e8eb67 39
Vigilance88 2:ee58b6e8eb67 40 Ticker looptimer;
Vigilance88 2:ee58b6e8eb67 41 looptimer.attach(setlooptimerflag,0.01);
Vigilance88 2:ee58b6e8eb67 42
Vigilance88 2:ee58b6e8eb67 43 while (1) {
Vigilance88 2:ee58b6e8eb67 44 while(looptimerflag != true);
Vigilance88 2:ee58b6e8eb67 45 looptimerflag = false;
Vigilance88 0:4bfe85fb30ab 46
Vigilance88 2:ee58b6e8eb67 47 //MOTOR1
Vigilance88 2:ee58b6e8eb67 48 goal = (potmeter.read()-0.5)*4200;
Vigilance88 2:ee58b6e8eb67 49 pc.printf("setpoint: %f, %d, %f \n\r", goal, motor1.getPosition(),motor1.getSpeed());
Vigilance88 2:ee58b6e8eb67 50 pwm_to_motor = (goal - motor1.getPosition())*.001;
Vigilance88 2:ee58b6e8eb67 51
Vigilance88 2:ee58b6e8eb67 52 if(pwm_to_motor > 0)
Vigilance88 2:ee58b6e8eb67 53 dir_motor1 = 0;
Vigilance88 2:ee58b6e8eb67 54 else
Vigilance88 2:ee58b6e8eb67 55 dir_motor1 = 1;
Vigilance88 2:ee58b6e8eb67 56
Vigilance88 2:ee58b6e8eb67 57 pwm_motor1.write(abs(pwm_to_motor));
Vigilance88 2:ee58b6e8eb67 58
Vigilance88 2:ee58b6e8eb67 59 //MOTOR2
Vigilance88 2:ee58b6e8eb67 60 goal2 = (potmeter2.read()-0.5)*4200;
Vigilance88 2:ee58b6e8eb67 61 //pc.printf("setpoint: %f, %d, %f \n\r", goal2, motor2.getPosition(),motor2.getSpeed());
Vigilance88 2:ee58b6e8eb67 62 pwm_to_motor2 = (goal2 - motor2.getPosition())*.001;
Vigilance88 2:ee58b6e8eb67 63
Vigilance88 2:ee58b6e8eb67 64 if(pwm_to_motor2 > 0)
Vigilance88 2:ee58b6e8eb67 65 dir_motor2 = 0;
Vigilance88 2:ee58b6e8eb67 66 else
Vigilance88 2:ee58b6e8eb67 67 dir_motor2 = 1;
Vigilance88 2:ee58b6e8eb67 68
Vigilance88 2:ee58b6e8eb67 69 pwm_motor2.write(abs(pwm_to_motor2));
Vigilance88 2:ee58b6e8eb67 70
Vigilance88 2:ee58b6e8eb67 71
Vigilance88 0:4bfe85fb30ab 72 }
Vigilance88 0:4bfe85fb30ab 73 }