Amber Tang
/
JS_1motor_20170707_ok01
123
Fork of JS_1motor_20170707_ok by
main.cpp@0:39ee6f693e49, 2017-07-08 (annotated)
- Committer:
- Amber77
- Date:
- Sat Jul 08 09:03:42 2017 +0000
- Revision:
- 0:39ee6f693e49
- Child:
- 1:bfdd210b730a
JS_control
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Amber77 | 0:39ee6f693e49 | 1 | /* "PID.h"--- https://developer.mbed.org/users/aberk/code/PID/ */ |
Amber77 | 0:39ee6f693e49 | 2 | /* "Servo.h"-- https://developer.mbed.org/users/andrewrussell/code/Servo/file/4c315bcd91b4/Servo.cpp */ |
Amber77 | 0:39ee6f693e49 | 3 | /* JS using 3.3V */ |
Amber77 | 0:39ee6f693e49 | 4 | |
Amber77 | 0:39ee6f693e49 | 5 | #include "mbed.h" |
Amber77 | 0:39ee6f693e49 | 6 | #include "PID.h" |
Amber77 | 0:39ee6f693e49 | 7 | #include "Servo.h" |
Amber77 | 0:39ee6f693e49 | 8 | //**************************************************************************** |
Amber77 | 0:39ee6f693e49 | 9 | int encoderClickCount = 0; // hold the signed value corresponding to the number of clicks left or right since last sample |
Amber77 | 0:39ee6f693e49 | 10 | int previousEncoderState = 0; // keep a record of the last actioned sample state of the Qb+Qa outputs for comparison on each interrupt |
Amber77 | 0:39ee6f693e49 | 11 | float x, y, press = 0; |
Amber77 | 0:39ee6f693e49 | 12 | float cx, cy = 0; |
Amber77 | 0:39ee6f693e49 | 13 | int px, py = 0; |
Amber77 | 0:39ee6f693e49 | 14 | int bia = 3; |
Amber77 | 0:39ee6f693e49 | 15 | float X_pos, Y_pos, CW_CCW1, CW_CCW2, stopRun = 0; |
Amber77 | 0:39ee6f693e49 | 16 | //**************************************************************************** |
Amber77 | 0:39ee6f693e49 | 17 | DigitalOut StopRun(D15); |
Amber77 | 0:39ee6f693e49 | 18 | DigitalOut Brake(D14); |
Amber77 | 0:39ee6f693e49 | 19 | DigitalOut AR(D9); |
Amber77 | 0:39ee6f693e49 | 20 | DigitalOut X1_CW_CCW(PC_6); |
Amber77 | 0:39ee6f693e49 | 21 | DigitalOut X2_CW_CCW(D2); |
Amber77 | 0:39ee6f693e49 | 22 | DigitalOut Y1_CW_CCW(PC_8); |
Amber77 | 0:39ee6f693e49 | 23 | DigitalOut Y2_CW_CCW(PC_9); |
Amber77 | 0:39ee6f693e49 | 24 | |
Amber77 | 0:39ee6f693e49 | 25 | Servo X_PWM(D6); |
Amber77 | 0:39ee6f693e49 | 26 | Servo Y_PWM(D8); |
Amber77 | 0:39ee6f693e49 | 27 | |
Amber77 | 0:39ee6f693e49 | 28 | //DigitalIn phaseA(A0); // phase A of the quadrature encoder |
Amber77 | 0:39ee6f693e49 | 29 | //DigitalIn phaseB(A1); // phase B of the quadrature encoder |
Amber77 | 0:39ee6f693e49 | 30 | DigitalIn phaseA( PC_2 ); // phase a of the quadrature encoder |
Amber77 | 0:39ee6f693e49 | 31 | DigitalIn phaseB( PC_3 ); // phase b of the quadrature encoder |
Amber77 | 0:39ee6f693e49 | 32 | AnalogIn vx(A2); |
Amber77 | 0:39ee6f693e49 | 33 | AnalogIn vy(A3); |
Amber77 | 0:39ee6f693e49 | 34 | AnalogIn ps(A4); |
Amber77 | 0:39ee6f693e49 | 35 | |
Amber77 | 0:39ee6f693e49 | 36 | |
Amber77 | 0:39ee6f693e49 | 37 | void quadratureDecoder( void ) |
Amber77 | 0:39ee6f693e49 | 38 | { |
Amber77 | 0:39ee6f693e49 | 39 | int currentEncoderState = (phaseB.read() << 1) + phaseA.read(); // create a two bit value out of phaseB and phaseA |
Amber77 | 0:39ee6f693e49 | 40 | |
Amber77 | 0:39ee6f693e49 | 41 | if( currentEncoderState == previousEncoderState ) |
Amber77 | 0:39ee6f693e49 | 42 | { |
Amber77 | 0:39ee6f693e49 | 43 | return; |
Amber77 | 0:39ee6f693e49 | 44 | } |
Amber77 | 0:39ee6f693e49 | 45 | |
Amber77 | 0:39ee6f693e49 | 46 | switch( previousEncoderState ) |
Amber77 | 0:39ee6f693e49 | 47 | { |
Amber77 | 0:39ee6f693e49 | 48 | case 0: |
Amber77 | 0:39ee6f693e49 | 49 | if( currentEncoderState == 2 ) |
Amber77 | 0:39ee6f693e49 | 50 | { |
Amber77 | 0:39ee6f693e49 | 51 | encoderClickCount--; |
Amber77 | 0:39ee6f693e49 | 52 | |
Amber77 | 0:39ee6f693e49 | 53 | } |
Amber77 | 0:39ee6f693e49 | 54 | else if( currentEncoderState == 1 ) |
Amber77 | 0:39ee6f693e49 | 55 | { |
Amber77 | 0:39ee6f693e49 | 56 | encoderClickCount++; |
Amber77 | 0:39ee6f693e49 | 57 | |
Amber77 | 0:39ee6f693e49 | 58 | } |
Amber77 | 0:39ee6f693e49 | 59 | break; |
Amber77 | 0:39ee6f693e49 | 60 | |
Amber77 | 0:39ee6f693e49 | 61 | case 1: |
Amber77 | 0:39ee6f693e49 | 62 | if( currentEncoderState == 0 ) |
Amber77 | 0:39ee6f693e49 | 63 | { |
Amber77 | 0:39ee6f693e49 | 64 | encoderClickCount--; |
Amber77 | 0:39ee6f693e49 | 65 | |
Amber77 | 0:39ee6f693e49 | 66 | } |
Amber77 | 0:39ee6f693e49 | 67 | else if( currentEncoderState == 3 ) |
Amber77 | 0:39ee6f693e49 | 68 | { |
Amber77 | 0:39ee6f693e49 | 69 | encoderClickCount++; |
Amber77 | 0:39ee6f693e49 | 70 | |
Amber77 | 0:39ee6f693e49 | 71 | } |
Amber77 | 0:39ee6f693e49 | 72 | break; |
Amber77 | 0:39ee6f693e49 | 73 | |
Amber77 | 0:39ee6f693e49 | 74 | case 2: |
Amber77 | 0:39ee6f693e49 | 75 | if( currentEncoderState == 3 ) |
Amber77 | 0:39ee6f693e49 | 76 | { |
Amber77 | 0:39ee6f693e49 | 77 | encoderClickCount--; |
Amber77 | 0:39ee6f693e49 | 78 | |
Amber77 | 0:39ee6f693e49 | 79 | } |
Amber77 | 0:39ee6f693e49 | 80 | else if( currentEncoderState == 0 ) |
Amber77 | 0:39ee6f693e49 | 81 | { |
Amber77 | 0:39ee6f693e49 | 82 | encoderClickCount++; |
Amber77 | 0:39ee6f693e49 | 83 | |
Amber77 | 0:39ee6f693e49 | 84 | } |
Amber77 | 0:39ee6f693e49 | 85 | break; |
Amber77 | 0:39ee6f693e49 | 86 | |
Amber77 | 0:39ee6f693e49 | 87 | case 3: |
Amber77 | 0:39ee6f693e49 | 88 | if( currentEncoderState == 1 ) |
Amber77 | 0:39ee6f693e49 | 89 | { |
Amber77 | 0:39ee6f693e49 | 90 | encoderClickCount--; |
Amber77 | 0:39ee6f693e49 | 91 | |
Amber77 | 0:39ee6f693e49 | 92 | } |
Amber77 | 0:39ee6f693e49 | 93 | else if( currentEncoderState == 2 ) |
Amber77 | 0:39ee6f693e49 | 94 | { |
Amber77 | 0:39ee6f693e49 | 95 | encoderClickCount++; |
Amber77 | 0:39ee6f693e49 | 96 | |
Amber77 | 0:39ee6f693e49 | 97 | } |
Amber77 | 0:39ee6f693e49 | 98 | break; |
Amber77 | 0:39ee6f693e49 | 99 | |
Amber77 | 0:39ee6f693e49 | 100 | default: |
Amber77 | 0:39ee6f693e49 | 101 | break; |
Amber77 | 0:39ee6f693e49 | 102 | } |
Amber77 | 0:39ee6f693e49 | 103 | previousEncoderState = currentEncoderState; |
Amber77 | 0:39ee6f693e49 | 104 | } |
Amber77 | 0:39ee6f693e49 | 105 | |
Amber77 | 0:39ee6f693e49 | 106 | int getClicks( void ) |
Amber77 | 0:39ee6f693e49 | 107 | { |
Amber77 | 0:39ee6f693e49 | 108 | int res = encoderClickCount; // this allows the knob to be rotated "while im not looking at it' and still return the |
Amber77 | 0:39ee6f693e49 | 109 | |
Amber77 | 0:39ee6f693e49 | 110 | // encoderClickCount = 0; // actual number of clicks that have been rotated since last time I was checking it. |
Amber77 | 0:39ee6f693e49 | 111 | |
Amber77 | 0:39ee6f693e49 | 112 | return res; |
Amber77 | 0:39ee6f693e49 | 113 | } |
Amber77 | 0:39ee6f693e49 | 114 | |
Amber77 | 0:39ee6f693e49 | 115 | int main() |
Amber77 | 0:39ee6f693e49 | 116 | { |
Amber77 | 0:39ee6f693e49 | 117 | |
Amber77 | 0:39ee6f693e49 | 118 | Serial pc( USBTX, USBRX ); |
Amber77 | 0:39ee6f693e49 | 119 | pc.baud(115200); |
Amber77 | 0:39ee6f693e49 | 120 | Ticker sampleTicker; // create a timer to sample the encoder |
Amber77 | 0:39ee6f693e49 | 121 | int currentClicks; |
Amber77 | 0:39ee6f693e49 | 122 | |
Amber77 | 0:39ee6f693e49 | 123 | phaseA.mode( PullUp ); // phaseA is set with a built in pull-up resistor |
Amber77 | 0:39ee6f693e49 | 124 | phaseB.mode( PullUp ); // phaseB is set with a built in pull-up resistor |
Amber77 | 0:39ee6f693e49 | 125 | sampleTicker.attach_us( &quadratureDecoder, 100 ); // make the quadrature decoder function check the knob once every 1000us = 1ms |
Amber77 | 0:39ee6f693e49 | 126 | |
Amber77 | 0:39ee6f693e49 | 127 | |
Amber77 | 0:39ee6f693e49 | 128 | //PWM.calibrate(0.02, 0.001, 0.002); //50HZ |
Amber77 | 0:39ee6f693e49 | 129 | //PWM.calibrate(0.02, 0.02*0.02, 1*0.02); //50HZ |
Amber77 | 0:39ee6f693e49 | 130 | //PWM.calibrate(0.0001, 0.08*0.0001, 1*0.0001); //10kHZ |
Amber77 | 0:39ee6f693e49 | 131 | //PWM.calibrate(0.00001, 0.08*0.00001, 1*0.00001); //100kHZ |
Amber77 | 0:39ee6f693e49 | 132 | //PWM.calibrate(0.00001, 0.2*0.00001, 0.8*0.00001); //100kHZ |
Amber77 | 0:39ee6f693e49 | 133 | X_PWM.calibrate(0.00005, 0.08*0.00005, 1*0.00005); //20kHZ |
Amber77 | 0:39ee6f693e49 | 134 | Y_PWM.calibrate(0.00005, 0.08*0.00005, 1*0.00005); //20kHZ |
Amber77 | 0:39ee6f693e49 | 135 | //PWM.calibrate(0.000025, 0*0.000025, 1*0.000025); //40kHZ |
Amber77 | 0:39ee6f693e49 | 136 | //PWM.calibrate(0.000005, 0*0.000025, 1*0.000025); //200kHZ |
Amber77 | 0:39ee6f693e49 | 137 | cx = vx.read(); |
Amber77 | 0:39ee6f693e49 | 138 | cy = vy.read(); |
Amber77 | 0:39ee6f693e49 | 139 | AR.write(1); |
Amber77 | 0:39ee6f693e49 | 140 | |
Amber77 | 0:39ee6f693e49 | 141 | pc.printf( "Encoder test started\r\n" ); |
Amber77 | 0:39ee6f693e49 | 142 | while( 1 ) |
Amber77 | 0:39ee6f693e49 | 143 | { |
Amber77 | 0:39ee6f693e49 | 144 | currentClicks = getClicks(); |
Amber77 | 0:39ee6f693e49 | 145 | Brake.write(1); |
Amber77 | 0:39ee6f693e49 | 146 | x = vx.read(); |
Amber77 | 0:39ee6f693e49 | 147 | y = vy.read(); |
Amber77 | 0:39ee6f693e49 | 148 | /* x-axis re-arrange */ |
Amber77 | 0:39ee6f693e49 | 149 | if(x > cx) |
Amber77 | 0:39ee6f693e49 | 150 | { |
Amber77 | 0:39ee6f693e49 | 151 | px = (x-cx)/(1-cx)*100; |
Amber77 | 0:39ee6f693e49 | 152 | if(px < bia) |
Amber77 | 0:39ee6f693e49 | 153 | { |
Amber77 | 0:39ee6f693e49 | 154 | px = 0; |
Amber77 | 0:39ee6f693e49 | 155 | stopRun = 1; |
Amber77 | 0:39ee6f693e49 | 156 | CW_CCW1 = 1; |
Amber77 | 0:39ee6f693e49 | 157 | CW_CCW2 = 0; |
Amber77 | 0:39ee6f693e49 | 158 | X_pos = 0; |
Amber77 | 0:39ee6f693e49 | 159 | } |
Amber77 | 0:39ee6f693e49 | 160 | else |
Amber77 | 0:39ee6f693e49 | 161 | { |
Amber77 | 0:39ee6f693e49 | 162 | stopRun = 0; |
Amber77 | 0:39ee6f693e49 | 163 | CW_CCW1 = 1; |
Amber77 | 0:39ee6f693e49 | 164 | CW_CCW2 = 0; |
Amber77 | 0:39ee6f693e49 | 165 | X_pos = 0.5; |
Amber77 | 0:39ee6f693e49 | 166 | } |
Amber77 | 0:39ee6f693e49 | 167 | } |
Amber77 | 0:39ee6f693e49 | 168 | else if(x < cx) |
Amber77 | 0:39ee6f693e49 | 169 | { |
Amber77 | 0:39ee6f693e49 | 170 | px = (x-cx)/(cx-0)*100; |
Amber77 | 0:39ee6f693e49 | 171 | if(px > -bia) |
Amber77 | 0:39ee6f693e49 | 172 | { |
Amber77 | 0:39ee6f693e49 | 173 | px = 0; |
Amber77 | 0:39ee6f693e49 | 174 | stopRun = 1; |
Amber77 | 0:39ee6f693e49 | 175 | CW_CCW1 = 0; |
Amber77 | 0:39ee6f693e49 | 176 | CW_CCW2 = 1; |
Amber77 | 0:39ee6f693e49 | 177 | X_pos = 0; |
Amber77 | 0:39ee6f693e49 | 178 | } |
Amber77 | 0:39ee6f693e49 | 179 | else |
Amber77 | 0:39ee6f693e49 | 180 | { |
Amber77 | 0:39ee6f693e49 | 181 | stopRun = 0; |
Amber77 | 0:39ee6f693e49 | 182 | CW_CCW1 = 0; |
Amber77 | 0:39ee6f693e49 | 183 | CW_CCW2 = 1; |
Amber77 | 0:39ee6f693e49 | 184 | X_pos = 0.5; |
Amber77 | 0:39ee6f693e49 | 185 | } |
Amber77 | 0:39ee6f693e49 | 186 | } |
Amber77 | 0:39ee6f693e49 | 187 | else |
Amber77 | 0:39ee6f693e49 | 188 | px=cx; |
Amber77 | 0:39ee6f693e49 | 189 | /* y-axis re-arrange */ |
Amber77 | 0:39ee6f693e49 | 190 | if(y > cy) |
Amber77 | 0:39ee6f693e49 | 191 | { |
Amber77 | 0:39ee6f693e49 | 192 | py = (y-cy)/(1-cy)*100; |
Amber77 | 0:39ee6f693e49 | 193 | if(py < bia) |
Amber77 | 0:39ee6f693e49 | 194 | { |
Amber77 | 0:39ee6f693e49 | 195 | py = 0; |
Amber77 | 0:39ee6f693e49 | 196 | stopRun = 1; |
Amber77 | 0:39ee6f693e49 | 197 | CW_CCW1 = 1; |
Amber77 | 0:39ee6f693e49 | 198 | CW_CCW2 = 0; |
Amber77 | 0:39ee6f693e49 | 199 | Y_pos = 0; |
Amber77 | 0:39ee6f693e49 | 200 | } |
Amber77 | 0:39ee6f693e49 | 201 | else |
Amber77 | 0:39ee6f693e49 | 202 | { |
Amber77 | 0:39ee6f693e49 | 203 | |
Amber77 | 0:39ee6f693e49 | 204 | stopRun = 0; |
Amber77 | 0:39ee6f693e49 | 205 | CW_CCW1 = 1; |
Amber77 | 0:39ee6f693e49 | 206 | CW_CCW2 = 0; |
Amber77 | 0:39ee6f693e49 | 207 | Y_pos = 0.5; |
Amber77 | 0:39ee6f693e49 | 208 | } |
Amber77 | 0:39ee6f693e49 | 209 | } |
Amber77 | 0:39ee6f693e49 | 210 | else if(y < cy) |
Amber77 | 0:39ee6f693e49 | 211 | { |
Amber77 | 0:39ee6f693e49 | 212 | py = (y-cy)/(cy-0)*100; |
Amber77 | 0:39ee6f693e49 | 213 | if(py > -bia) |
Amber77 | 0:39ee6f693e49 | 214 | { |
Amber77 | 0:39ee6f693e49 | 215 | py = 0; |
Amber77 | 0:39ee6f693e49 | 216 | stopRun = 1; |
Amber77 | 0:39ee6f693e49 | 217 | CW_CCW1 = 0; |
Amber77 | 0:39ee6f693e49 | 218 | CW_CCW2 = 1; |
Amber77 | 0:39ee6f693e49 | 219 | Y_pos = 0; |
Amber77 | 0:39ee6f693e49 | 220 | } |
Amber77 | 0:39ee6f693e49 | 221 | else |
Amber77 | 0:39ee6f693e49 | 222 | { |
Amber77 | 0:39ee6f693e49 | 223 | stopRun = 0; |
Amber77 | 0:39ee6f693e49 | 224 | CW_CCW1 = 0; |
Amber77 | 0:39ee6f693e49 | 225 | CW_CCW2 = 1; |
Amber77 | 0:39ee6f693e49 | 226 | Y_pos = 0.5; |
Amber77 | 0:39ee6f693e49 | 227 | } |
Amber77 | 0:39ee6f693e49 | 228 | } |
Amber77 | 0:39ee6f693e49 | 229 | else |
Amber77 | 0:39ee6f693e49 | 230 | { |
Amber77 | 0:39ee6f693e49 | 231 | py=cy; |
Amber77 | 0:39ee6f693e49 | 232 | } |
Amber77 | 0:39ee6f693e49 | 233 | // while( 1 ) |
Amber77 | 0:39ee6f693e49 | 234 | // { |
Amber77 | 0:39ee6f693e49 | 235 | // currentClicks = getClicks(); |
Amber77 | 0:39ee6f693e49 | 236 | // Brake.write(1); |
Amber77 | 0:39ee6f693e49 | 237 | // x = vx.read(); |
Amber77 | 0:39ee6f693e49 | 238 | // y = vy.read(); |
Amber77 | 0:39ee6f693e49 | 239 | // /* x-axis re-arrange */ |
Amber77 | 0:39ee6f693e49 | 240 | // if(x > cx) |
Amber77 | 0:39ee6f693e49 | 241 | // { |
Amber77 | 0:39ee6f693e49 | 242 | // px = (x-cx)/(1-cx)*100; |
Amber77 | 0:39ee6f693e49 | 243 | // if(px < bia) |
Amber77 | 0:39ee6f693e49 | 244 | // { |
Amber77 | 0:39ee6f693e49 | 245 | // px = 0; |
Amber77 | 0:39ee6f693e49 | 246 | // StopRun.write(1); |
Amber77 | 0:39ee6f693e49 | 247 | // X1_CW_CCW.write(1); // clockwise:0 counterclockwise:1 |
Amber77 | 0:39ee6f693e49 | 248 | // X2_CW_CCW.write(0); // clockwise:0 counterclockwise:1 |
Amber77 | 0:39ee6f693e49 | 249 | // Y1_CW_CCW.write(1); // clockwise:0 counterclockwise:1 |
Amber77 | 0:39ee6f693e49 | 250 | // Y2_CW_CCW.write(0); // clockwise:0 counterclockwise:1 |
Amber77 | 0:39ee6f693e49 | 251 | // X_pos = 0; |
Amber77 | 0:39ee6f693e49 | 252 | // Y_pos = 0; |
Amber77 | 0:39ee6f693e49 | 253 | // } |
Amber77 | 0:39ee6f693e49 | 254 | // else |
Amber77 | 0:39ee6f693e49 | 255 | // { |
Amber77 | 0:39ee6f693e49 | 256 | // StopRun.write(0); |
Amber77 | 0:39ee6f693e49 | 257 | //// CW_CCW.write(0); // clockwise:0 counterclockwise:1 |
Amber77 | 0:39ee6f693e49 | 258 | // X1_CW_CCW.write(1); // clockwise:0 counterclockwise:1 |
Amber77 | 0:39ee6f693e49 | 259 | // X2_CW_CCW.write(0); // clockwise:0 counterclockwise:1 |
Amber77 | 0:39ee6f693e49 | 260 | // Y1_CW_CCW.write(1); // clockwise:0 counterclockwise:1 |
Amber77 | 0:39ee6f693e49 | 261 | // Y2_CW_CCW.write(0); // clockwise:0 counterclockwise:1 |
Amber77 | 0:39ee6f693e49 | 262 | // X_pos = 0.5; |
Amber77 | 0:39ee6f693e49 | 263 | // Y_pos = 0; |
Amber77 | 0:39ee6f693e49 | 264 | // } |
Amber77 | 0:39ee6f693e49 | 265 | // } |
Amber77 | 0:39ee6f693e49 | 266 | // else if(x < cx) |
Amber77 | 0:39ee6f693e49 | 267 | // { |
Amber77 | 0:39ee6f693e49 | 268 | // px = (x-cx)/(cx-0)*100; |
Amber77 | 0:39ee6f693e49 | 269 | // if(px > -bia) |
Amber77 | 0:39ee6f693e49 | 270 | // { |
Amber77 | 0:39ee6f693e49 | 271 | // px = 0; |
Amber77 | 0:39ee6f693e49 | 272 | // StopRun.write(1); |
Amber77 | 0:39ee6f693e49 | 273 | //// CW_CCW.write(1); // clockwise:0 counterclockwise:1 |
Amber77 | 0:39ee6f693e49 | 274 | // X1_CW_CCW.write(0); // clockwise:0 counterclockwise:1 |
Amber77 | 0:39ee6f693e49 | 275 | // X2_CW_CCW.write(1); // clockwise:0 counterclockwise:1 |
Amber77 | 0:39ee6f693e49 | 276 | // Y1_CW_CCW.write(0); // clockwise:0 counterclockwise:1 |
Amber77 | 0:39ee6f693e49 | 277 | // Y2_CW_CCW.write(1); // clockwise:0 counterclockwise:1 |
Amber77 | 0:39ee6f693e49 | 278 | // X_pos = 0; |
Amber77 | 0:39ee6f693e49 | 279 | // Y_pos = 0; |
Amber77 | 0:39ee6f693e49 | 280 | // } |
Amber77 | 0:39ee6f693e49 | 281 | // else |
Amber77 | 0:39ee6f693e49 | 282 | // { |
Amber77 | 0:39ee6f693e49 | 283 | // StopRun.write(0); |
Amber77 | 0:39ee6f693e49 | 284 | //// CW_CCW.write(1); // clockwise:0 counterclockwise:1 |
Amber77 | 0:39ee6f693e49 | 285 | // X1_CW_CCW.write(0); // clockwise:0 counterclockwise:1 |
Amber77 | 0:39ee6f693e49 | 286 | // X2_CW_CCW.write(1); // clockwise:0 counterclockwise:1 |
Amber77 | 0:39ee6f693e49 | 287 | // Y1_CW_CCW.write(0); // clockwise:0 counterclockwise:1 |
Amber77 | 0:39ee6f693e49 | 288 | // Y2_CW_CCW.write(1); // clockwise:0 counterclockwise:1 |
Amber77 | 0:39ee6f693e49 | 289 | // X_pos = 0.5; |
Amber77 | 0:39ee6f693e49 | 290 | // Y_pos = 0; |
Amber77 | 0:39ee6f693e49 | 291 | // } |
Amber77 | 0:39ee6f693e49 | 292 | // } |
Amber77 | 0:39ee6f693e49 | 293 | // else |
Amber77 | 0:39ee6f693e49 | 294 | // px=cx; |
Amber77 | 0:39ee6f693e49 | 295 | // /* y-axis re-arrange */ |
Amber77 | 0:39ee6f693e49 | 296 | // if(y > cy) |
Amber77 | 0:39ee6f693e49 | 297 | // { |
Amber77 | 0:39ee6f693e49 | 298 | // py = (y-cy)/(1-cy)*100; |
Amber77 | 0:39ee6f693e49 | 299 | // if(py < bia) |
Amber77 | 0:39ee6f693e49 | 300 | // { |
Amber77 | 0:39ee6f693e49 | 301 | // py = 0; |
Amber77 | 0:39ee6f693e49 | 302 | // StopRun.write(1); |
Amber77 | 0:39ee6f693e49 | 303 | // X1_CW_CCW.write(1); // clockwise:0 counterclockwise:1 |
Amber77 | 0:39ee6f693e49 | 304 | // X2_CW_CCW.write(0); // clockwise:0 counterclockwise:1 |
Amber77 | 0:39ee6f693e49 | 305 | // Y1_CW_CCW.write(1); // clockwise:0 counterclockwise:1 |
Amber77 | 0:39ee6f693e49 | 306 | // Y2_CW_CCW.write(0); // clockwise:0 counterclockwise:1 |
Amber77 | 0:39ee6f693e49 | 307 | // X_pos = 0; |
Amber77 | 0:39ee6f693e49 | 308 | // Y_pos = 0; |
Amber77 | 0:39ee6f693e49 | 309 | // } |
Amber77 | 0:39ee6f693e49 | 310 | // else |
Amber77 | 0:39ee6f693e49 | 311 | // { |
Amber77 | 0:39ee6f693e49 | 312 | // |
Amber77 | 0:39ee6f693e49 | 313 | // StopRun.write(0); |
Amber77 | 0:39ee6f693e49 | 314 | // X1_CW_CCW.write(1); // clockwise:0 counterclockwise:1 |
Amber77 | 0:39ee6f693e49 | 315 | // X2_CW_CCW.write(0); // clockwise:0 counterclockwise:1 |
Amber77 | 0:39ee6f693e49 | 316 | // Y1_CW_CCW.write(1); // clockwise:0 counterclockwise:1 |
Amber77 | 0:39ee6f693e49 | 317 | // Y2_CW_CCW.write(0); // clockwise:0 counterclockwise:1 |
Amber77 | 0:39ee6f693e49 | 318 | // X_pos = 0; |
Amber77 | 0:39ee6f693e49 | 319 | // Y_pos = 0.5; |
Amber77 | 0:39ee6f693e49 | 320 | // } |
Amber77 | 0:39ee6f693e49 | 321 | // } |
Amber77 | 0:39ee6f693e49 | 322 | // else if(y < cy) |
Amber77 | 0:39ee6f693e49 | 323 | // { |
Amber77 | 0:39ee6f693e49 | 324 | // py = (y-cy)/(cy-0)*100; |
Amber77 | 0:39ee6f693e49 | 325 | // if(py > -bia) |
Amber77 | 0:39ee6f693e49 | 326 | // { |
Amber77 | 0:39ee6f693e49 | 327 | // py = 0; |
Amber77 | 0:39ee6f693e49 | 328 | // StopRun.write(1); |
Amber77 | 0:39ee6f693e49 | 329 | // X1_CW_CCW.write(0); // clockwise:0 counterclockwise:1 |
Amber77 | 0:39ee6f693e49 | 330 | // X2_CW_CCW.write(1); // clockwise:0 counterclockwise:1 |
Amber77 | 0:39ee6f693e49 | 331 | // Y1_CW_CCW.write(0); // clockwise:0 counterclockwise:1 |
Amber77 | 0:39ee6f693e49 | 332 | // Y2_CW_CCW.write(1); // clockwise:0 counterclockwise:1 |
Amber77 | 0:39ee6f693e49 | 333 | // X_pos = 0; |
Amber77 | 0:39ee6f693e49 | 334 | // Y_pos = 0; |
Amber77 | 0:39ee6f693e49 | 335 | // } |
Amber77 | 0:39ee6f693e49 | 336 | // else |
Amber77 | 0:39ee6f693e49 | 337 | // { |
Amber77 | 0:39ee6f693e49 | 338 | // StopRun.write(0); |
Amber77 | 0:39ee6f693e49 | 339 | // X1_CW_CCW.write(0); // clockwise:0 counterclockwise:1 |
Amber77 | 0:39ee6f693e49 | 340 | // X2_CW_CCW.write(1); // clockwise:0 counterclockwise:1 |
Amber77 | 0:39ee6f693e49 | 341 | // Y1_CW_CCW.write(0); // clockwise:0 counterclockwise:1 |
Amber77 | 0:39ee6f693e49 | 342 | // Y2_CW_CCW.write(1); // clockwise:0 counterclockwise:1 |
Amber77 | 0:39ee6f693e49 | 343 | // X_pos = 0; |
Amber77 | 0:39ee6f693e49 | 344 | // Y_pos = 0.5; |
Amber77 | 0:39ee6f693e49 | 345 | // } |
Amber77 | 0:39ee6f693e49 | 346 | // } |
Amber77 | 0:39ee6f693e49 | 347 | // else |
Amber77 | 0:39ee6f693e49 | 348 | // { |
Amber77 | 0:39ee6f693e49 | 349 | // py=cy; |
Amber77 | 0:39ee6f693e49 | 350 | // } |
Amber77 | 0:39ee6f693e49 | 351 | /*if(x > cx) |
Amber77 | 0:39ee6f693e49 | 352 | { |
Amber77 | 0:39ee6f693e49 | 353 | px = (x-cx)/(1-cx)*100; |
Amber77 | 0:39ee6f693e49 | 354 | if(px < bia) |
Amber77 | 0:39ee6f693e49 | 355 | { |
Amber77 | 0:39ee6f693e49 | 356 | px = 0; |
Amber77 | 0:39ee6f693e49 | 357 | StopRun.write(1); |
Amber77 | 0:39ee6f693e49 | 358 | CW_CCW.write(0); // clockwise:0 counterclockwise:1 |
Amber77 | 0:39ee6f693e49 | 359 | pos = 0; |
Amber77 | 0:39ee6f693e49 | 360 | } |
Amber77 | 0:39ee6f693e49 | 361 | else |
Amber77 | 0:39ee6f693e49 | 362 | { |
Amber77 | 0:39ee6f693e49 | 363 | StopRun.write(0); |
Amber77 | 0:39ee6f693e49 | 364 | CW_CCW.write(0); // clockwise:0 counterclockwise:1 |
Amber77 | 0:39ee6f693e49 | 365 | pos=px*0.01; |
Amber77 | 0:39ee6f693e49 | 366 | } |
Amber77 | 0:39ee6f693e49 | 367 | } |
Amber77 | 0:39ee6f693e49 | 368 | else if(x < cx) |
Amber77 | 0:39ee6f693e49 | 369 | { |
Amber77 | 0:39ee6f693e49 | 370 | px = (x-cx)/(cx-0)*100; |
Amber77 | 0:39ee6f693e49 | 371 | if(px > -bia) |
Amber77 | 0:39ee6f693e49 | 372 | { |
Amber77 | 0:39ee6f693e49 | 373 | px = 0; |
Amber77 | 0:39ee6f693e49 | 374 | StopRun.write(1); |
Amber77 | 0:39ee6f693e49 | 375 | CW_CCW.write(1); // clockwise:0 counterclockwise:1 |
Amber77 | 0:39ee6f693e49 | 376 | pos = 0; |
Amber77 | 0:39ee6f693e49 | 377 | } |
Amber77 | 0:39ee6f693e49 | 378 | else |
Amber77 | 0:39ee6f693e49 | 379 | { |
Amber77 | 0:39ee6f693e49 | 380 | StopRun.write(0); |
Amber77 | 0:39ee6f693e49 | 381 | CW_CCW.write(1); // clockwise:0 counterclockwise:1 |
Amber77 | 0:39ee6f693e49 | 382 | pos=px*(-0.01); |
Amber77 | 0:39ee6f693e49 | 383 | } |
Amber77 | 0:39ee6f693e49 | 384 | } |
Amber77 | 0:39ee6f693e49 | 385 | else |
Amber77 | 0:39ee6f693e49 | 386 | px=cx; |
Amber77 | 0:39ee6f693e49 | 387 | /* y-axis re-arrange */ |
Amber77 | 0:39ee6f693e49 | 388 | /*if(y > cy) |
Amber77 | 0:39ee6f693e49 | 389 | { |
Amber77 | 0:39ee6f693e49 | 390 | py = (y-cy)/(1-cy)*100; |
Amber77 | 0:39ee6f693e49 | 391 | if(py < bia) |
Amber77 | 0:39ee6f693e49 | 392 | py = 0; |
Amber77 | 0:39ee6f693e49 | 393 | } |
Amber77 | 0:39ee6f693e49 | 394 | else if(y < cy) |
Amber77 | 0:39ee6f693e49 | 395 | { |
Amber77 | 0:39ee6f693e49 | 396 | py = (y-cy)/(cy-0)*100; |
Amber77 | 0:39ee6f693e49 | 397 | if(py > -bia) |
Amber77 | 0:39ee6f693e49 | 398 | py = 0; |
Amber77 | 0:39ee6f693e49 | 399 | } |
Amber77 | 0:39ee6f693e49 | 400 | else |
Amber77 | 0:39ee6f693e49 | 401 | { |
Amber77 | 0:39ee6f693e49 | 402 | py=cy; |
Amber77 | 0:39ee6f693e49 | 403 | } |
Amber77 | 0:39ee6f693e49 | 404 | */ |
Amber77 | 0:39ee6f693e49 | 405 | StopRun.write(stopRun); |
Amber77 | 0:39ee6f693e49 | 406 | X1_CW_CCW.write(CW_CCW1); // clockwise:0 counterclockwise:1 |
Amber77 | 0:39ee6f693e49 | 407 | X2_CW_CCW.write(CW_CCW2); // clockwise:0 counterclockwise:1 |
Amber77 | 0:39ee6f693e49 | 408 | Y1_CW_CCW.write(CW_CCW1); // clockwise:0 counterclockwise:1 |
Amber77 | 0:39ee6f693e49 | 409 | Y2_CW_CCW.write(CW_CCW2); // clockwise:0 counterclockwise:1 |
Amber77 | 0:39ee6f693e49 | 410 | X_PWM.write(X_pos); |
Amber77 | 0:39ee6f693e49 | 411 | Y_PWM.write(Y_pos); |
Amber77 | 0:39ee6f693e49 | 412 | |
Amber77 | 0:39ee6f693e49 | 413 | |
Amber77 | 0:39ee6f693e49 | 414 | press = ps.read(); |
Amber77 | 0:39ee6f693e49 | 415 | if(press < 0.008) |
Amber77 | 0:39ee6f693e49 | 416 | printf("Pressed: %d, %d\n",px,py); |
Amber77 | 0:39ee6f693e49 | 417 | else |
Amber77 | 0:39ee6f693e49 | 418 | printf(" : %d, %d\n",px,py); |
Amber77 | 0:39ee6f693e49 | 419 | |
Amber77 | 0:39ee6f693e49 | 420 | wait_ms(0.1); |
Amber77 | 0:39ee6f693e49 | 421 | |
Amber77 | 0:39ee6f693e49 | 422 | if( currentClicks != 0 ) |
Amber77 | 0:39ee6f693e49 | 423 | { |
Amber77 | 0:39ee6f693e49 | 424 | //pc.printf( "%f, %d, %f || click count = %d\r\n", x, px, pos, currentClicks/*, previousEncoderState */); |
Amber77 | 0:39ee6f693e49 | 425 | //pc.printf("%f, %d, %f\n",x,px,pos); |
Amber77 | 0:39ee6f693e49 | 426 | pc.printf( "%f || %f || click count = %d\r\n", X_pos, Y_pos, currentClicks/*, previousEncoderState */); |
Amber77 | 0:39ee6f693e49 | 427 | } |
Amber77 | 0:39ee6f693e49 | 428 | wait_ms( 20 ); |
Amber77 | 0:39ee6f693e49 | 429 | } |
Amber77 | 0:39ee6f693e49 | 430 | } |