Abigail Groenenboom / Mbed 2 deprecated Tau_new_ticker_toevoegen

Ticker added

Dependencies:   HIDScope MODSERIAL QEI mbed

Fork of Tau_new_ticker_toevoegen by V D

main.cpp@5:9b5ab304fe64, 2017-11-02 (annotated)

Committer:
ARGroenenboom
Date:
Thu Nov 02 09:09:28 2017 +0000
Revision:
5:9b5ab304fe64
Parent:
4:e22508afc194
Child:
6:d8c4c54e1077
Ticker added

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"
vd 4:e22508afc194 5 #include "MODSERIAL.h"
ARGroenenboom 0:cf88b023a080 6
ARGroenenboom 0:cf88b023a080 7 //Leds
ARGroenenboom 0:cf88b023a080 8 DigitalOut ledb(LED_BLUE);
ARGroenenboom 0:cf88b023a080 9 DigitalOut ledr(LED_RED);
ARGroenenboom 0:cf88b023a080 10 DigitalOut ledg(LED_GREEN);
ARGroenenboom 0:cf88b023a080 11
ARGroenenboom 0:cf88b023a080 12 //Motor
ARGroenenboom 0:cf88b023a080 13 DigitalOut motor1DC(D7);
ARGroenenboom 0:cf88b023a080 14 PwmOut motor1PWM(D6);
ARGroenenboom 0:cf88b023a080 15
ARGroenenboom 0:cf88b023a080 16 //Button
ARGroenenboom 0:cf88b023a080 17 DigitalIn button1(SW2);
ARGroenenboom 0:cf88b023a080 18
ARGroenenboom 0:cf88b023a080 19 // HIDscope
ARGroenenboom 0:cf88b023a080 20 HIDScope scope(1);
ARGroenenboom 0:cf88b023a080 21
vd 4:e22508afc194 22 //Ticker
vd 4:e22508afc194 23 Ticker tick;
vd 4:e22508afc194 24 float f = 0.2;
vd 4:e22508afc194 25
ARGroenenboom 0:cf88b023a080 26 // Encoder
vd 4:e22508afc194 27 float X = 32.0;
vd 4:e22508afc194 28 float N = 131.0;
ARGroenenboom 1:d2fe9abf5082 29 float pulse_count;
ARGroenenboom 1:d2fe9abf5082 30 float angle_motor;
vd 4:e22508afc194 31 QEI Encoder(D8,D9,NC,N);
vd 4:e22508afc194 32 MODSERIAL pc(USBTX,USBRX);
ARGroenenboom 0:cf88b023a080 33
ARGroenenboom 5:9b5ab304fe64 34 // Send angle to HIDScope and pc function
ARGroenenboom 5:9b5ab304fe64 35 void Send()
ARGroenenboom 5:9b5ab304fe64 36 {
ARGroenenboom 5:9b5ab304fe64 37 // Get pulses and calculate angle
ARGroenenboom 5:9b5ab304fe64 38 pulse_count = Encoder.getPulses();
ARGroenenboom 5:9b5ab304fe64 39 float angle_pp =360/(X * N);
ARGroenenboom 5:9b5ab304fe64 40 float angle = pulse_count*angle_pp;
ARGroenenboom 5:9b5ab304fe64 41
ARGroenenboom 5:9b5ab304fe64 42 // Send angle to HIDScope and pc
ARGroenenboom 5:9b5ab304fe64 43 scope.set(0, angle);
ARGroenenboom 5:9b5ab304fe64 44 scope.send();
ARGroenenboom 5:9b5ab304fe64 45 pc.printf(" pulse count: %f angle: %f \r \n ", pulse_count, angle);
ARGroenenboom 5:9b5ab304fe64 46
ARGroenenboom 5:9b5ab304fe64 47 // Reset encoder to reset pules count
ARGroenenboom 5:9b5ab304fe64 48 Encoder.reset();
ARGroenenboom 5:9b5ab304fe64 49 }
ARGroenenboom 5:9b5ab304fe64 50
ARGroenenboom 0:cf88b023a080 51
ARGroenenboom 5:9b5ab304fe64 52 // Roll function
ARGroenenboom 5:9b5ab304fe64 53 void Roll()
ARGroenenboom 5:9b5ab304fe64 54 {
ARGroenenboom 5:9b5ab304fe64 55 // Show rolling state through leds
ARGroenenboom 5:9b5ab304fe64 56 ledg = 1; // green led off
ARGroenenboom 5:9b5ab304fe64 57 ledb = 1; // blue led off
ARGroenenboom 5:9b5ab304fe64 58 ledr = 0; // red led on = rolling
ARGroenenboom 0:cf88b023a080 59
ARGroenenboom 5:9b5ab304fe64 60 // Turn motor on for x time and turn it off again
ARGroenenboom 5:9b5ab304fe64 61 motor1PWM = 1; // motor on
ARGroenenboom 5:9b5ab304fe64 62 wait(3.00); // Let motor turn for x time
ARGroenenboom 5:9b5ab304fe64 63 motor1PWM = 0; // motor off
ARGroenenboom 5:9b5ab304fe64 64
ARGroenenboom 5:9b5ab304fe64 65 // Show ready state through leds
ARGroenenboom 5:9b5ab304fe64 66 wait(1.0); // wait before next roll to protect motors
ARGroenenboom 5:9b5ab304fe64 67 ledr = 1; // red led off
ARGroenenboom 5:9b5ab304fe64 68 ledb = 1; // blue led off
ARGroenenboom 5:9b5ab304fe64 69 ledg = 0; // green led on = ready to roll
ARGroenenboom 5:9b5ab304fe64 70
ARGroenenboom 5:9b5ab304fe64 71 }
vd 3:48397c80d0e4 72
ARGroenenboom 0:cf88b023a080 73
ARGroenenboom 0:cf88b023a080 74 int main()
ARGroenenboom 0:cf88b023a080 75 {
ARGroenenboom 5:9b5ab304fe64 76 // Initialize system
vd 4:e22508afc194 77 pc.baud(9600);
vd 4:e22508afc194 78 motor1DC = -1;
ARGroenenboom 0:cf88b023a080 79 ledb = 1;
ARGroenenboom 0:cf88b023a080 80 ledr = 1;
ARGroenenboom 0:cf88b023a080 81 ledg = 0;
ARGroenenboom 5:9b5ab304fe64 82
ARGroenenboom 5:9b5ab304fe64 83 // Dice code
ARGroenenboom 5:9b5ab304fe64 84 if(button1==false)
ARGroenenboom 5:9b5ab304fe64 85 {
ARGroenenboom 5:9b5ab304fe64 86 Roll();
ARGroenenboom 5:9b5ab304fe64 87 }
ARGroenenboom 5:9b5ab304fe64 88 tick.attach(&Send, f);
vd 4:e22508afc194 89
ARGroenenboom 5:9b5ab304fe64 90 // Perform main continuously
ARGroenenboom 5:9b5ab304fe64 91 while(true) {}
vd 4:e22508afc194 92 }
vd 4:e22508afc194 93
vd 4:e22508afc194 94 // screen /dev/tty.usbmodem1412 9600