BioRobotics - Polulu 1447 Concept version of determining the motor angle to determine tau
Dependencies: HIDScope QEI mbed
main.cpp@2:d81060e7e7c6, 2017-11-02 (annotated)
- Committer:
- ARGroenenboom
- Date:
- Thu Nov 02 17:24:04 2017 +0000
- Revision:
- 2:d81060e7e7c6
- Parent:
- 1:d2fe9abf5082
Perfect. Niet meer aankomen.
Who changed what in which revision?
User | Revision | Line number | New 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 | 2:d81060e7e7c6 | 14 | bool On; |
ARGroenenboom | 2:d81060e7e7c6 | 15 | bool reset; |
ARGroenenboom | 0:cf88b023a080 | 16 | |
ARGroenenboom | 0:cf88b023a080 | 17 | //Button |
ARGroenenboom | 0:cf88b023a080 | 18 | DigitalIn button1(SW2); |
ARGroenenboom | 0:cf88b023a080 | 19 | |
ARGroenenboom | 0:cf88b023a080 | 20 | // HIDscope |
ARGroenenboom | 2:d81060e7e7c6 | 21 | HIDScope scope(2); |
ARGroenenboom | 0:cf88b023a080 | 22 | |
ARGroenenboom | 0:cf88b023a080 | 23 | // Encoder |
ARGroenenboom | 1:d2fe9abf5082 | 24 | float X = 32; |
ARGroenenboom | 1:d2fe9abf5082 | 25 | float N = 131; |
ARGroenenboom | 1:d2fe9abf5082 | 26 | float pulse_count; |
ARGroenenboom | 2:d81060e7e7c6 | 27 | QEI Encoder(D8,D9,NC,N); |
ARGroenenboom | 2:d81060e7e7c6 | 28 | |
ARGroenenboom | 2:d81060e7e7c6 | 29 | //Ticker function |
ARGroenenboom | 2:d81060e7e7c6 | 30 | Ticker tick; |
ARGroenenboom | 2:d81060e7e7c6 | 31 | double R = 30.0; |
ARGroenenboom | 2:d81060e7e7c6 | 32 | double F = 0.01; |
ARGroenenboom | 2:d81060e7e7c6 | 33 | double counter; |
ARGroenenboom | 0:cf88b023a080 | 34 | |
ARGroenenboom | 0:cf88b023a080 | 35 | //Minimum wait time between rolls |
ARGroenenboom | 2:d81060e7e7c6 | 36 | //float t = 1; |
ARGroenenboom | 0:cf88b023a080 | 37 | |
ARGroenenboom | 0:cf88b023a080 | 38 | // Encoder measurement function |
ARGroenenboom | 0:cf88b023a080 | 39 | void Measure() |
ARGroenenboom | 0:cf88b023a080 | 40 | { |
ARGroenenboom | 2:d81060e7e7c6 | 41 | // Get number of pulses and calculate angle |
ARGroenenboom | 1:d2fe9abf5082 | 42 | pulse_count = Encoder.getPulses(); |
ARGroenenboom | 2:d81060e7e7c6 | 43 | float angle_pp =360/(X * N); |
ARGroenenboom | 2:d81060e7e7c6 | 44 | float angle = pulse_count*angle_pp; |
ARGroenenboom | 2:d81060e7e7c6 | 45 | |
ARGroenenboom | 2:d81060e7e7c6 | 46 | // Send angle to HIDScope |
ARGroenenboom | 2:d81060e7e7c6 | 47 | scope.set(0, angle); |
ARGroenenboom | 2:d81060e7e7c6 | 48 | scope.set(1, counter); |
ARGroenenboom | 2:d81060e7e7c6 | 49 | scope.send(); |
ARGroenenboom | 1:d2fe9abf5082 | 50 | |
ARGroenenboom | 2:d81060e7e7c6 | 51 | // Turn motor off if desired rotation time has been reached |
ARGroenenboom | 0:cf88b023a080 | 52 | |
ARGroenenboom | 2:d81060e7e7c6 | 53 | if(angle/360.0>=1){ |
ARGroenenboom | 2:d81060e7e7c6 | 54 | On=false; |
ARGroenenboom | 2:d81060e7e7c6 | 55 | counter++; |
ARGroenenboom | 2:d81060e7e7c6 | 56 | if(counter==2.0/F){ |
ARGroenenboom | 2:d81060e7e7c6 | 57 | reset=true; |
ARGroenenboom | 2:d81060e7e7c6 | 58 | } |
ARGroenenboom | 2:d81060e7e7c6 | 59 | } |
ARGroenenboom | 0:cf88b023a080 | 60 | } |
ARGroenenboom | 0:cf88b023a080 | 61 | |
ARGroenenboom | 0:cf88b023a080 | 62 | //Dice rolling function |
ARGroenenboom | 0:cf88b023a080 | 63 | void Roll() |
ARGroenenboom | 0:cf88b023a080 | 64 | { |
ARGroenenboom | 2:d81060e7e7c6 | 65 | if(button1==0){ |
ARGroenenboom | 2:d81060e7e7c6 | 66 | On=true; |
ARGroenenboom | 2:d81060e7e7c6 | 67 | } |
ARGroenenboom | 2:d81060e7e7c6 | 68 | if(On==true){ |
ARGroenenboom | 2:d81060e7e7c6 | 69 | // Roll dice |
ARGroenenboom | 2:d81060e7e7c6 | 70 | motor1PWM = 1; // motor on -> roll dice |
ARGroenenboom | 2:d81060e7e7c6 | 71 | |
ARGroenenboom | 2:d81060e7e7c6 | 72 | // Indicate rolling state |
ARGroenenboom | 2:d81060e7e7c6 | 73 | ledg = 1; |
ARGroenenboom | 2:d81060e7e7c6 | 74 | ledb = 1; |
ARGroenenboom | 2:d81060e7e7c6 | 75 | ledr = 0; // red led on |
ARGroenenboom | 2:d81060e7e7c6 | 76 | |
ARGroenenboom | 0:cf88b023a080 | 77 | |
ARGroenenboom | 2:d81060e7e7c6 | 78 | } |
ARGroenenboom | 2:d81060e7e7c6 | 79 | else{ |
ARGroenenboom | 2:d81060e7e7c6 | 80 | // Stop rolling dice |
ARGroenenboom | 2:d81060e7e7c6 | 81 | motor1PWM = 0; // motor off |
ARGroenenboom | 2:d81060e7e7c6 | 82 | //motor1DC = abs(motor1DC-1); // rotate other way next time |
ARGroenenboom | 2:d81060e7e7c6 | 83 | |
ARGroenenboom | 2:d81060e7e7c6 | 84 | // Indicate protection state |
ARGroenenboom | 2:d81060e7e7c6 | 85 | ledr = 1; |
ARGroenenboom | 2:d81060e7e7c6 | 86 | ledg = 1; |
ARGroenenboom | 2:d81060e7e7c6 | 87 | ledb = 0; // blue led on |
ARGroenenboom | 2:d81060e7e7c6 | 88 | |
ARGroenenboom | 2:d81060e7e7c6 | 89 | } |
ARGroenenboom | 2:d81060e7e7c6 | 90 | } |
ARGroenenboom | 2:d81060e7e7c6 | 91 | |
ARGroenenboom | 2:d81060e7e7c6 | 92 | void Measurement() |
ARGroenenboom | 2:d81060e7e7c6 | 93 | { |
ARGroenenboom | 2:d81060e7e7c6 | 94 | if(reset==true){ |
ARGroenenboom | 2:d81060e7e7c6 | 95 | Encoder.reset(); |
ARGroenenboom | 2:d81060e7e7c6 | 96 | reset = false; |
ARGroenenboom | 2:d81060e7e7c6 | 97 | counter=0; |
ARGroenenboom | 2:d81060e7e7c6 | 98 | } |
ARGroenenboom | 2:d81060e7e7c6 | 99 | Roll(); |
ARGroenenboom | 2:d81060e7e7c6 | 100 | Measure(); |
ARGroenenboom | 0:cf88b023a080 | 101 | } |
ARGroenenboom | 0:cf88b023a080 | 102 | |
ARGroenenboom | 0:cf88b023a080 | 103 | int main() |
ARGroenenboom | 0:cf88b023a080 | 104 | { |
ARGroenenboom | 0:cf88b023a080 | 105 | motor1DC = 1; |
ARGroenenboom | 2:d81060e7e7c6 | 106 | ledr = 1; |
ARGroenenboom | 0:cf88b023a080 | 107 | ledb = 1; |
ARGroenenboom | 0:cf88b023a080 | 108 | ledg = 0; |
ARGroenenboom | 0:cf88b023a080 | 109 | |
ARGroenenboom | 2:d81060e7e7c6 | 110 | On = false; |
ARGroenenboom | 2:d81060e7e7c6 | 111 | reset=true; |
ARGroenenboom | 2:d81060e7e7c6 | 112 | counter=0; |
ARGroenenboom | 2:d81060e7e7c6 | 113 | |
ARGroenenboom | 2:d81060e7e7c6 | 114 | tick.attach(&Measurement,F); |
ARGroenenboom | 2:d81060e7e7c6 | 115 | |
ARGroenenboom | 2:d81060e7e7c6 | 116 | while(true){} |
ARGroenenboom | 0:cf88b023a080 | 117 | } |