Abigail Groenenboom / Mbed 2 deprecated Tau

BioRobotics - Polulu 1447 Concept version of determining the motor angle to determine tau

Dependencies:   HIDScope QEI mbed

main.cpp@0:cf88b023a080, 2017-10-31 (annotated)

Committer:
ARGroenenboom
Date:
Tue Oct 31 13:51:16 2017 +0000
Revision:
0:cf88b023a080
Child:
1:d2fe9abf5082
Working. Roll and send encoder values to HIDScope. Strange values on HIDScope.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ARGroenenboom 0:cf88b023a080 1 #include "mbed.h"
ARGroenenboom 0:cf88b023a080 2 #include "HIDScope.h"
ARGroenenboom 0:cf88b023a080 3 #include "QEI.h"
ARGroenenboom 0:cf88b023a080 4 #include "iostream"
ARGroenenboom 0:cf88b023a080 5
ARGroenenboom 0:cf88b023a080 6 //Leds
ARGroenenboom 0:cf88b023a080 7 DigitalOut ledb(LED_BLUE);
ARGroenenboom 0:cf88b023a080 8 DigitalOut ledr(LED_RED);
ARGroenenboom 0:cf88b023a080 9 DigitalOut ledg(LED_GREEN);
ARGroenenboom 0:cf88b023a080 10
ARGroenenboom 0:cf88b023a080 11 //Motor
ARGroenenboom 0:cf88b023a080 12 DigitalOut motor1DC(D7);
ARGroenenboom 0:cf88b023a080 13 PwmOut motor1PWM(D6);
ARGroenenboom 0:cf88b023a080 14
ARGroenenboom 0:cf88b023a080 15 //Button
ARGroenenboom 0:cf88b023a080 16 DigitalIn button1(SW2);
ARGroenenboom 0:cf88b023a080 17
ARGroenenboom 0:cf88b023a080 18 //PC
ARGroenenboom 0:cf88b023a080 19 Serial pc(USBTX, USBRX);
ARGroenenboom 0:cf88b023a080 20
ARGroenenboom 0:cf88b023a080 21 // HIDscope
ARGroenenboom 0:cf88b023a080 22 HIDScope scope(1);
ARGroenenboom 0:cf88b023a080 23
ARGroenenboom 0:cf88b023a080 24 // Encoder
ARGroenenboom 0:cf88b023a080 25 int counts;
ARGroenenboom 0:cf88b023a080 26 QEI Encoder(A0,A1,NC,32);
ARGroenenboom 0:cf88b023a080 27 Ticker tick;
ARGroenenboom 0:cf88b023a080 28 float F = 0.02;
ARGroenenboom 0:cf88b023a080 29
ARGroenenboom 0:cf88b023a080 30 //Minimum wait time between rolls
ARGroenenboom 0:cf88b023a080 31 float t = 1;
ARGroenenboom 0:cf88b023a080 32
ARGroenenboom 0:cf88b023a080 33 // Encoder measurement function
ARGroenenboom 0:cf88b023a080 34 void Measure()
ARGroenenboom 0:cf88b023a080 35 {
ARGroenenboom 0:cf88b023a080 36 // Get pulses and send to HIDScope
ARGroenenboom 0:cf88b023a080 37 counts = Encoder.getPulses();
ARGroenenboom 0:cf88b023a080 38
ARGroenenboom 0:cf88b023a080 39 float angle_pc = 1/87;
ARGroenenboom 0:cf88b023a080 40 float angle = counts * angle_pc;
ARGroenenboom 0:cf88b023a080 41
ARGroenenboom 0:cf88b023a080 42 scope.set(0, angle);
ARGroenenboom 0:cf88b023a080 43 scope.send();
ARGroenenboom 0:cf88b023a080 44
ARGroenenboom 0:cf88b023a080 45 pc.printf("Counts:%i. \n Angle:%i. \n",counts,angle);
ARGroenenboom 0:cf88b023a080 46 }
ARGroenenboom 0:cf88b023a080 47
ARGroenenboom 0:cf88b023a080 48 //Dice rolling function
ARGroenenboom 0:cf88b023a080 49 void Roll()
ARGroenenboom 0:cf88b023a080 50 {
ARGroenenboom 0:cf88b023a080 51 ledg = 1; // green led off
ARGroenenboom 0:cf88b023a080 52 ledr = 0; // red led on = rolling
ARGroenenboom 0:cf88b023a080 53
ARGroenenboom 0:cf88b023a080 54 motor1PWM = 1; // motor on -> roll dice
ARGroenenboom 0:cf88b023a080 55 wait(1.5);
ARGroenenboom 0:cf88b023a080 56 motor1PWM = 0; // motor off
ARGroenenboom 0:cf88b023a080 57
ARGroenenboom 0:cf88b023a080 58 motor1DC = abs(motor1DC-1); // rotate other way next time
ARGroenenboom 0:cf88b023a080 59
ARGroenenboom 0:cf88b023a080 60 ledr = 1; // red led off
ARGroenenboom 0:cf88b023a080 61 ledb = 0; // blue led on
ARGroenenboom 0:cf88b023a080 62 }
ARGroenenboom 0:cf88b023a080 63
ARGroenenboom 0:cf88b023a080 64 int main()
ARGroenenboom 0:cf88b023a080 65 {
ARGroenenboom 0:cf88b023a080 66 motor1DC = 1;
ARGroenenboom 0:cf88b023a080 67 ledb = 1;
ARGroenenboom 0:cf88b023a080 68 ledr = 1;
ARGroenenboom 0:cf88b023a080 69 ledg = 0;
ARGroenenboom 0:cf88b023a080 70
ARGroenenboom 0:cf88b023a080 71
ARGroenenboom 0:cf88b023a080 72
ARGroenenboom 0:cf88b023a080 73 while (true)
ARGroenenboom 0:cf88b023a080 74 {
ARGroenenboom 0:cf88b023a080 75 if(button1==0)
ARGroenenboom 0:cf88b023a080 76 {
ARGroenenboom 0:cf88b023a080 77 Roll();
ARGroenenboom 0:cf88b023a080 78 wait(t); // wait before next roll to protect motors
ARGroenenboom 0:cf88b023a080 79 ledb = 1;
ARGroenenboom 0:cf88b023a080 80 ledg = 0; // green led on = ready to roll
ARGroenenboom 0:cf88b023a080 81 }
ARGroenenboom 0:cf88b023a080 82 Measure();
ARGroenenboom 0:cf88b023a080 83 }
ARGroenenboom 0:cf88b023a080 84 }