Rotork Research Team
/
TFM_Encoder
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main.cpp
- Committer:
- simontruelove
- Date:
- 2018-11-20
- Revision:
- 9:061600a6c750
- Parent:
- 8:2e690f407ec6
- Child:
- 10:808cb9052f14
File content as of revision 9:061600a6c750:
#include "mbed.h"
#include "QEI.h"
void Initialisation (void); //These voids are written after the main. They must be listed here too (functional prototypes).
void StepCW(void);
void Ph1(void);
void Ph12 (void);
void Ph2(void);
void Ph23 (void);
void Ph3(void);
void Ph34 (void);
void Ph4(void);
void Ph41 (void);
void GetChar (void);
void RPM (void);
void VelocityLoop (void);
Serial pc(USBTX, USBRX); // tx, rx - set up the Terraterm input from mbed
QEI wheel(p5, p6, p8, 800, QEI::X4_ENCODING); //code for quadrature encoder see QEI.h
Timer t;
PwmOut Phase1 (p21); //Pin and LED set up
PwmOut Phase2 (p22);
PwmOut Phase3 (p23);
PwmOut Phase4 (p24);
AnalogOut Aout(p18);
DigitalIn Button1 (p11);
DigitalIn Button2 (p12);
DigitalOut led1(LED1);
DigitalOut led2(LED2);
DigitalOut led3(LED3);
DigitalOut led4(LED4);
int StateA = 0;
int StateB = 0;
//int StateC = 0;
int AdjCW = 3;
int AdjACW = 6;
int TimePerClick = 0;
int TimePerRev = 0;
int RPS = 0;
int rpm = 0;
int SetPoint = 500;
int z = 80;
char c;
float duty = 1;
float diff = 0.0;
float x=0.1; //x=time of square wave when 1 phase energised,
float y=0.04; //y=time of square wave when 2 phases energised
int main(void)
{
pc.baud(230400); //Set fastest baud rate
Phase1.period(0.00002);
Phase2.period(0.00002);
Phase3.period(0.00002);
Phase4.period(0.00002);
StepCW();
Initialisation();
wait(0.1);
t.start();
while(wheel.getRevolutions()<2)
{
switch(StateA)
{
case 0:Ph1();break;
case 1:Ph1();break;
case 2:Ph12();break;
case 3:Ph12();break;
case 4:Ph2();break;
case 5:Ph2();break;
case 6:Ph23();break;
case 7:Ph23();break;
case 8:Ph3();break;
case 9:Ph3();break;
case 10:Ph34();break;
case 11:Ph34();break;
case 12:Ph4();break;
case 13:Ph4();break;
case 14:Ph41();break;
case 15:Ph41();break;
default:break;
}
if(wheel.getYay()==1)
{
StateA++;
wheel.ResetYay();
if (StateA>15)
{
StateA=0;
}
}
}
while(1)
{
while((led1 == 0) && (led2 == 0))
{
Aout = 0;
Phase1.write(0);
Phase2.write(0);
Phase3.write(0);
Phase4.write(0);
GetChar();
//StateB = wheel.getPulses()%16;
//StateC = (800+wheel.getPulses()+StateA+AdjCW)%16;
//pc.printf("StateA= %i, StateB= %i, StateC= %i, Pulses = %i\n\r", StateA, StateB, StateC, wheel.getPulses());
//pc.printf("0 StateB= %i, Pulses= %i, Revs= %i\r", StateB,wheel.getPulses(),wheel.getRevolutions());
}
while((wheel.getRevolutions()>1) && (wheel.getPulses()>0) && (led1==1))
{
GetChar();
StateB = (wheel.getPulses()+StateA+AdjCW)%16;
//pc.printf("rpm = %i, Whoop = %i\n\r", rpm, wheel.getWhoop());
//pc.printf("StateB= %i\n\r", StateB);
//pc.printf("1 StateB= %i, Pulses= %i, Revs= %i\r", StateB,wheel.getPulses(),wheel.getRevolutions());
switch(StateB)
{
case 0:Ph1();break;
case 1:Ph1();break;
case 2:Ph12();break;
case 3:Ph12();break;
case 4:Ph2();break;
case 5:Ph2();break;
case 6:Ph23();break;
case 7:Ph23();break;
case 8:Ph3();break;
case 9:Ph3();break;
case 10:Ph34();break;
case 11:Ph34();break;
case 12:Ph4();break;
case 13:Ph4();break;
case 14:Ph41();break;
case 15:Ph41();break;
default:break;
}
if(wheel.getWhoop()==1)
{
RPM();
VelocityLoop();
}
}
while(wheel.getRevolutions()>1 && wheel.getPulses()<1 && (led1==1))
{
GetChar();
StateB = (800+wheel.getPulses()+StateA+AdjCW)%16;
//pc.printf("StateA= %i\r", StateA);
//pc.printf("2 StateB= %i, Pulses= %i, Revs= %i\r", StateB,wheel.getPulses(),wheel.getRevolutions());
switch(StateB)
{
case 0:Ph1();break;
case 1:Ph1();break;
case 2:Ph12();break;
case 3:Ph12();break;
case 4:Ph2();break;
case 5:Ph2();break;
case 6:Ph23();break;
case 7:Ph23();break;
case 8:Ph3();break;
case 9:Ph3();break;
case 10:Ph34();break;
case 11:Ph34();break;
case 12:Ph4();break;
case 13:Ph4();break;
case 14:Ph41();break;
case 15:Ph41();break;
default:break;
}
if(wheel.getWhoop()==1)
{
RPM();
VelocityLoop();
}
}
while((wheel.getRevolutions()>1) && (wheel.getPulses()>0) && (led2==1))
{
GetChar();
//StateB = (800+wheel.getPulses())%16;
StateB = (800+wheel.getPulses()+StateA+AdjACW)%16;
//pc.printf("StateA= %i\r", StateA);
//pc.printf("3 StateB= %i, Pulses= %i, Revs= %i \r", StateB,wheel.getPulses(),wheel.getRevolutions());
switch(StateB)
{
case 15:Ph41();break;
case 14:Ph41();break;
case 13:Ph4();break;
case 12:Ph4();break;
case 11:Ph34();break;
case 10:Ph34();break;
case 9:Ph3();break;
case 8:Ph3();break;
case 7:Ph23();break;
case 6:Ph23();break;
case 5:Ph2();break;
case 4:Ph2();break;
case 3:Ph12();break;
case 2:Ph12();break;
case 1:Ph1();break;
case 0:Ph1();break;
default:break;
}
if(wheel.getWhoop()==1)
{
RPM();
VelocityLoop();
}
}
while((wheel.getRevolutions()>1) && (wheel.getPulses()<1) && (led2==1))
{
GetChar();
StateB = (800+wheel.getPulses()+StateA+AdjACW)%16;
//pc.printf("StateA= %i\r", StateA);
//pc.printf("4 StateB= %i, Pulses= %i, Revs= %i \r", StateB,wheel.getPulses(),wheel.getRevolutions());
switch(StateB)
{
case 15:Ph41();break;
case 14:Ph41();break;
case 13:Ph4();break;
case 12:Ph4();break;
case 11:Ph34();break;
case 10:Ph34();break;
case 9:Ph3();break;
case 8:Ph3();break;
case 7:Ph23();break;
case 6:Ph23();break;
case 5:Ph2();break;
case 4:Ph2();break;
case 3:Ph12();break;
case 2:Ph12();break;
case 1:Ph1();break;
case 0:Ph1();break;
default:break;
}
if(wheel.getWhoop()==1)
{
RPM();
VelocityLoop();
}
}
}
}
void StepCW(void) //Square wave switching
{
Ph1();
wait(x);
Ph12();
wait(y);
Ph2();
wait(x);
Ph23();
wait(y);
Ph3();
wait(x);
Ph34();
wait(y);
Ph4();
wait(x);
Ph41();
wait(y);
}
void Ph1(void)
{
Phase1.write(duty);
Phase2.write(0);
Phase3.write(0);
Phase4.write(0);
//wait(x);
//pc.printf("Phase 1 = %i\n\r", wheel.getPulses());
}
void Ph12 (void)
{
Phase1.write(duty);
Phase2.write(duty);
Phase3.write(0);
Phase4.write(0);
//wait(y);
}
void Ph2(void)
{
Phase1.write(0);
Phase2.write(duty);
Phase3.write(0);
Phase4.write(0);
//wait(x);
//pc.printf("Phase 2 = %i\n\r", wheel.getPulses());
}
void Ph23 (void)
{
Phase1.write(0);
Phase2.write(duty);
Phase3.write(duty);
Phase4.write(0);
//wait(y);
}
void Ph3(void)
{
Phase1.write(0);
Phase2.write(0);
Phase3.write(duty);
Phase4.write(0);
//wait(x);
//pc.printf("Phase 3 = %i\n\r", wheel.getPulses());
}
void Ph34 (void)
{
Phase1.write(0);
Phase2.write(0);
Phase3.write(duty);
Phase4.write(duty);
//wait(y);
}
void Ph4(void)
{
Phase1.write(0);
Phase2.write(0);
Phase3.write(0);
Phase4.write(duty);
//wait(x);
//pc.printf("Phase 4 = %i\n\r", wheel.getPulses());
}
void Ph41 (void)
{
Phase1.write(duty);
Phase2.write(0);
Phase3.write(0);
Phase4.write(duty);
//wait(y);
}
void Initialisation (void)
{
Phase1.write(0);
Phase2.write(0);
Phase3.write(0);
Phase4.write(0);
led1 = 0;
led2 = 0;
led3 = 0;
led4 = 0;
wheel.ResetYay();
}
void GetChar (void)
{ if (pc.readable())
{
c = pc.getc();
if(c == 'z')
{
led1 = !led1;
led2 = 0;
}
if(c == 'x')
{
led1 = 0;
led2 = !led2 ;
}
if(c == 'q')
{
//duty = duty + 0.0001;
SetPoint=SetPoint+10;
}
if(c == 'a')
{
//duty = duty - 0.0001;
SetPoint=SetPoint-10;
if (SetPoint <500)
{
SetPoint = 500;
}
}
}
}
void RPM (void)
{
wheel.ResetWhoop();
TimePerClick = (t.read_us());
t.reset();
TimePerRev = TimePerClick * (800/z);
TimePerRev = TimePerRev / 1000;
RPS = 10000000 / TimePerRev;
rpm = (RPS * 60)/10000;
Aout=((0.298*rpm)/1000); // for 500 rpm (0.30303*500/1000)*3.3V = 0.500V
//pc.printf("rpm = %i\n\r", rpm);
//pc.printf("StateA= %i, StateB= %i, StateC= %i, Pulses = %i\n\r", StateA, StateB, StateC, wheel.getPulses());
}
void VelocityLoop (void)
{
diff = SetPoint - rpm;
duty = duty + (diff*0.00001);
if (duty > 1)
{
duty = 1;
}
if (duty <0.96)
{
duty = 0.96;
}
pc.printf("%i, %.5f\r", SetPoint, duty); //SetPoint = %i, rpm = %i\n\r", duty, SetPoint, rpm);
}