Amber Tang / Mbed 2 deprecated Control_JS_LimitSwitch_Lifting_20170120_ok

132

Dependencies:   Servo mbed

Files at this revision

API Documentation at this revision

Revision 0:84c1f6c3e4ff, committed 2017-09-20

Comitter:
Amber77
Date:
Wed Sep 20 20:37:27 2017 +0000
Commit message:
20170921

Changed in this revision

Servo.lib Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file
mbed.bld Show annotated file Show diff for this revision Revisions of this file 
diff -r 000000000000 -r 84c1f6c3e4ff Servo.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Servo.lib	Wed Sep 20 20:37:27 2017 +0000
@@ -0,0 +1,1 @@
+http://developer.mbed.org/users/andrewrussell/code/Servo/#4c315bcd91b4

diff -r 000000000000 -r 84c1f6c3e4ff main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Sep 20 20:37:27 2017 +0000
@@ -0,0 +1,133 @@
+/* https://developer.mbed.org/users/andrewrussell/code/Servo/ */
+/* JS using 3.3V */
+#include "mbed.h"
+#include "Servo.h"
+
+//DigitalOut StopRun(D11);
+//DigitalOut F_R(D10);  // CW/CCW
+//DigitalOut H_F(D9);  
+//DigitalOut StopRun(PA_11);
+//DigitalOut F_R(PB_2);  // CW/CCW
+//DigitalOut H_F(PB_1);  
+DigitalOut StopRun(PA_15);
+DigitalOut F_R(PA_14);  // CW/CCW
+DigitalOut H_F(PA_13);
+//DigitalOut StopRun(PB_13);
+//DigitalOut F_R(PB_14);  // CW/CCW
+//DigitalOut H_F(PB_15);
+AnalogIn vx(A2);
+AnalogIn vy(A3);
+AnalogIn ps(A4);
+
+//DigitalIn LimitSwitchUp(D6,PullUp);
+//DigitalIn LimitSwitchDown(D3,PullUp);
+DigitalIn LimitSwitchUp(PB_15,PullUp);
+DigitalIn LimitSwitchDown(PB_14,PullUp);
+//DigitalIn TIM(D6);
+
+DigitalOut myled(LED1);
+
+int main() 
+{
+    float x, y = 0;
+    float cx, cy = 0;
+    int px, py = 0;
+    int bia = 3;
+    float pos = 0; 
+    int limitSwitchUp;
+    int limitSwitchDown;
+    //TIM.calibrate(0.00001, 0.08*0.00001, 1*0.00001);  //10kHZ
+    cx = vx.read();
+    cy = vy.read();
+    H_F.write(1);
+    while(1)
+    { 
+        x = vx.read();
+        y = vy.read();
+        limitSwitchUp = LimitSwitchUp.read();
+        limitSwitchDown = LimitSwitchDown.read();
+        /* x-axis re-arrange */
+        if(x > cx)
+        {
+            px = (x-cx)/(1-cx)*100;
+            if(px < bia)
+            {
+                px = 0;
+                StopRun.write(1);
+                F_R.write(1);               // counterclockwise:0    clockwise:1
+                pos = 0;
+            }
+            else
+            {
+                 if(limitSwitchUp == 1)
+                {
+                    StopRun.write(0);       // RUN ---turn up
+                    F_R.write(1);           // counterclockwise:0    clockwise:1
+                    pos=px*0.01;
+                }
+                else
+                {
+                    StopRun.write(1);       // STOP
+                    F_R.write(1);
+                }
+            }      
+        }
+        else if(x < cx)
+        {
+            px = (x-cx)/(cx-0)*100;
+            if(px > -bia)
+            {
+                px = 0;
+                StopRun.write(1);
+                F_R.write(0);               // counterclockwise:0    clockwise:1
+                pos = 0;
+            }
+            else
+            {
+                if(limitSwitchDown == 1)
+                {
+                    StopRun.write(0);       // RUN ---turn down
+                    F_R.write(0);           // counterclockwise:0    clockwise:1
+                    pos=px*(-0.01);
+                }
+                else
+                {
+                    StopRun.write(1);       // STOP
+                    F_R.write(0);
+                }
+                    
+            } 
+        }
+        else
+            px=cx;
+        /* y-axis re-arrange */
+        if(y > cy)
+        {
+            py = (y-cy)/(1-cy)*100;
+            if(py < bia)
+                py = 0;
+        }
+        else if(y < cy)
+        {
+            py = (y-cy)/(cy-0)*100;
+            if(py > -bia)
+                py = 0;
+        }
+        else
+            py=cy;
+            
+        //TIM.write(pos); 
+        
+        printf("%f, %d, %f\n",x,px,pos);
+        printf(" %d | %d\n", limitSwitchUp,limitSwitchDown);
+        
+        /*
+        press = ps.read();
+        if(press < 0.008)
+            printf("Pressed: %d, %d\n",px,py);
+        else
+            printf("       : %d, %d\n",px,py);
+        */
+        wait_ms(0.1);
+        }    
+}
\ No newline at end of file

diff -r 000000000000 -r 84c1f6c3e4ff mbed.bld
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Wed Sep 20 20:37:27 2017 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/ad3be0349dc5
\ No newline at end of file