Anaïs Chaumeil
/
modelling_motor
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Dependencies: mbed QEI HIDScope MODSERIAL FXOS8700Q FastPWM
Revision 0:fc28ef7f69c1, committed 2019-10-30
- Comitter:
- AnaisChaumeil
- Date:
- Wed Oct 30 09:31:01 2019 +0000
- Commit message:
- determine the model of the motor
Changed in this revision
diff -r 000000000000 -r fc28ef7f69c1 FXOS8700Q.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/FXOS8700Q.lib Wed Oct 30 09:31:01 2019 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/teams/Freescale/code/FXOS8700Q/#aee7dea904e2
diff -r 000000000000 -r fc28ef7f69c1 FastPWM.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/FastPWM.lib Wed Oct 30 09:31:01 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/Sissors/code/FastPWM/#c0b2265cff9c
diff -r 000000000000 -r fc28ef7f69c1 HIDScope.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/HIDScope.lib Wed Oct 30 09:31:01 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/tomlankhorst/code/HIDScope/#d23c6edecc49
diff -r 000000000000 -r fc28ef7f69c1 MODSERIAL.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MODSERIAL.lib Wed Oct 30 09:31:01 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/Sissors/code/MODSERIAL/#d2a5e26fd658
diff -r 000000000000 -r fc28ef7f69c1 QEI.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/QEI.lib Wed Oct 30 09:31:01 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/aberk/code/QEI/#5c2ad81551aa
diff -r 000000000000 -r fc28ef7f69c1 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Wed Oct 30 09:31:01 2019 +0000
@@ -0,0 +1,68 @@
+#include "mbed.h"
+#include "MODSERIAL.h"
+#include "FastPWM.h"
+#include "QEI.h"
+#include "HIDScope.h"
+#include "math.h"
+
+
+/* We want to feed the motor with a sinus VELOCITY input and get the angular POSITION thanks to the encoder*/
+
+Ticker signal; // helps us to define the signal
+DigitalOut motor1DirectionPin(D7); //Boolean, determines direction
+FastPWM motor1MagnitudePin(D6); //PWM ranges from 0 to 1, determines velocity of the motor
+
+double MotorValue;
+Serial pc(USBTX,USBRX);
+double MeasuredPosition=0; //Measured position in rad
+QEI Encoder(D1,D0,NC,32);
+int ReferencePosition=3150; // reference position
+double ReferenceVelocity;
+
+int f; // frequency of the sinus
+double pi=3.14;
+
+double abs_time=0; //absolute time : where we are right now in the time signal
+//CHECK IF RIGHT TO PASS ABS_TIME BY REFERENCE (we want it changed)
+
+double GetReferenceVelocity(double &t) // computes the reference velocity we will feed the motor with
+{
+ double refval; // input reference velocity
+ refval=sin(2*pi*t*f);
+ t=t+0.01; // sinus valuescomputed every 0.01 seconds
+ return refval;
+}
+
+
+void setMotor1(double b){ // b is refval
+ if (b>=0)
+ {
+ motor1DirectionPin=1;
+ }
+ else
+ {
+ motor1DirectionPin=0;
+ }
+ motor1MagnitudePin=fabs(b);
+}
+
+
+void control()
+{
+ ReferenceVelocity=GetReferenceVelocity(abs_time);
+ MeasuredPosition=Encoder.getPulses();
+ printf("Reference Velocity: %d\r\n", ReferenceVelocity);
+ printf("MeasuredPosition: %d\r\n",MeasuredPosition);
+ setMotor1(ReferenceVelocity);
+}
+
+int main(void)
+{
+ pc.baud(112500);
+ signal.attach(control, 0.01);
+ while(abs_time<10)
+ {
+ }
+
+}
+
\ No newline at end of file
diff -r 000000000000 -r fc28ef7f69c1 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Wed Oct 30 09:31:01 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400 \ No newline at end of file