Peter Betz
Feeder driver code
Dependencies: QEI USBDevice mbed
Fork of
DRVR_ENCDR
by 
Peter Betz
Revision 0:432e18641e71, committed 2017-11-13
- Comitter:
- BETZtechnik
- Date:
- Mon Nov 13 07:45:13 2017 +0000
- Commit message:
- Encoder tweak
Changed in this revision
diff -r 000000000000 -r 432e18641e71 QEI.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/QEI.lib Mon Nov 13 07:45:13 2017 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/aberk/code/QEI/#5c2ad81551aa
diff -r 000000000000 -r 432e18641e71 USBDevice.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/USBDevice.lib Mon Nov 13 07:45:13 2017 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/USBDevice/#335f2506f422
diff -r 000000000000 -r 432e18641e71 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Mon Nov 13 07:45:13 2017 +0000
@@ -0,0 +1,264 @@
+#include "mbed.h"
+#include "USBSerial.h"
+#include "QEI.h"
+
+// JUMPERS REQUIRED ON MOTOR DRIVER STBY PINS ! PULL TO 3V3.
+// Feeder message is FxxTx(L or R) F= feeder ID, T= teethRequested, (L for left or R for right)
+// *************************************************
+// FEEDER ID !! Set 10's and 1's (for ID= 13, tens = 1 and ones = 3) USE CHAR!
+char tens = '0';
+char ones = '1';
+
+
+int teethRequested = 0; // how many teeth advance has been selected?
+int index = 0; // for parsing serial
+
+//Encoder:
+
+QEI lEncoder(P0_13, P0_14, NC, 1440, QEI::X4_ENCODING);
+int startEncoder = 0;
+int encoderTarget = 0;
+
+Timer timer;
+
+InterruptIn lOpto(P1_29);
+InterruptIn lButton(P1_22);
+InterruptIn rOpto(P1_26);
+InterruptIn rButton(P0_20);
+
+//LEDs
+DigitalOut lLed(P0_11);
+DigitalOut rLed(P0_2);
+
+//Left Tape
+DigitalOut lTapeIn1(P0_10);
+DigitalOut lTapeIn2(P0_9);
+PwmOut lTapePWM(P0_8);
+AnalogIn tapePot(P0_15); // will be 0 -1024
+int tapePotADC; // after math will be 0-9 for PWMwrite
+
+//Left motor
+DigitalOut lMotorIn1(P1_15);
+DigitalOut lMotorIn2(P0_23);
+PwmOut lMotorPWM(P0_19);
+int lMotorSet = 5; // use 1-10 (whole numbers) to set PWM, it is /10 in the function to be float (lMotorSet / 10)
+
+// Right Tape
+DigitalOut rTapeIn1(P1_21);
+DigitalOut rTapeIn2(P1_31);
+PwmOut rTapePWM(P0_8);
+
+//Right motor
+DigitalOut rMotorIn1(P0_17);
+DigitalOut rMotorIn2(P0_18);
+//PwmOut rMotorPWM(P0_19);
+int rMotorSet = 5; // use 1-10 (whole numbers) to set PWM, it is /10 in the function to be float (lMotorSet / 10)
+
+//////////////////////////////////////////////////////////
+
+void lFeed(){
+
+ /*
+ if (teethRequested == 0){ // this is just for the button, if over serial then teethrequested has already been set to > 0
+ teethRequested = 1; // change to how many teeth you want the button to feed
+ }
+
+ //Tape
+ lTapeIn1 = 0; // reverse 1's and 0's if rotation is backwards
+ lTapeIn2 = 1;
+ // lTapePWM.write(0.5f); // from POT , max 0.9 with this code as ADC value is being divided by 103
+
+ //Motor
+
+
+
+ while (lEncoder.getPulses() < (startEncoder + 45)){
+ lMotorIn1 = 0;
+ lMotorIn2 = 1;
+ lMotorPWM.write(0.5);
+ }
+
+ lMotorIn1 = 1;
+ lMotorIn2 = 1;
+ lMotorPWM.write(0.0f); //PWM off
+ teethRequested = 0; // set teeth requested to zero so it will ignore further opto interrupts.
+ }
+ */
+
+ startEncoder = lEncoder.getPulses();
+ encoderTarget = (startEncoder + 12);
+ }
+
+void rFeed(){
+ if (teethRequested == 0){ // this is just for the button, if over serial then teethrequested has already been set to > 0
+ teethRequested = 1; // change to how many teeth you want the button to feed
+ }
+
+ //Tape
+ rTapeIn1 = 0; // reverse 1's and 0's if rotation is backwards
+ rTapeIn2 = 1;
+ rTapePWM.write((tapePotADC / 10)); // from POT , max 0.9 with this code as ADC value is being divided by 103
+
+ //Motor
+ rMotorIn1 = 0;
+ rMotorIn2 = 1;
+ // rMotorPWM.write(lMotorSet / 10);
+ }
+
+void lStop(){
+ // if (teethRequested >= 1){ // If only one (or one more) tooth needed to be driven
+
+ //tape
+ lTapeIn1 = 0;
+ lTapeIn2 = 0;
+ lTapePWM.write(0.0f); //PWM off
+
+ //motor
+ lMotorIn1 = 1;
+ lMotorIn2 = 1;
+ lMotorPWM.write(0.0f); //PWM off
+ teethRequested = 0; // set teeth requested to zero so it will ignore further opto interrupts.
+ }
+
+
+ // if (teethRequested <=2){ // If more than one tooth needs to be driven, skip this interrupt and decrement
+ // teethRequested = (teethRequested - 1);
+ // }
+ // }
+
+ void rStop(){
+ if (teethRequested == 1){ // If only one (or one more) tooth needed to be driven
+
+ //tape
+ rTapeIn1 = 0;
+ rTapeIn2 = 0;
+ rTapePWM.write(0.0f); //PWM off
+
+ //motor
+ rMotorIn1 = 0;
+ rMotorIn2 = 0;
+ // rMotorPWM.write(0.0f); //PWM off
+ teethRequested = 0; // set teeth requested to zero so it will ignore further opto interrupts.
+ }
+
+ if (teethRequested <=2){ // If more than one tooth needs to be driven, skip this interrupt and decrement
+ teethRequested = (teethRequested - 1);
+ }
+ }
+
+ // SERIAL
+
+ //Serial device(P1_13, P1_14); // RS 485
+
+// USB VCOM UART for MBED Serial Port Driver
+
+
+
+
+
+
+int main() {
+
+lOpto.mode(PullNone); // external pull up
+lButton.mode(PullUp); // button pull up
+rOpto.mode(PullNone);
+
+lOpto.rise(&lStop);
+lButton.fall(&lFeed);
+
+ uint8_t c = 0;
+//device.printf("Hello World\n");
+
+USBSerial serial;
+serial.printf("I am a virtual serial port\r\n");
+
+ while(1) {
+
+// TODO create timer for USB debug messages
+
+ serial.printf("Encoder pulses: %i\n", lEncoder.getPulses());
+ serial.printf("Encoder state: %i\n", lEncoder.getCurrentState ());
+ wait(1);
+
+ while (lEncoder.getPulses() < encoderTarget){
+ lMotorIn1 = 0;
+ lMotorIn2 = 1;
+ lMotorPWM.write(0.5);
+ }
+
+ lMotorIn1 = 1;
+ lMotorIn2 = 1;
+ lMotorPWM.write(0.0f); //PWM off
+ teethRequested = 0; // set teeth requested to zero so it will ignore further opto interrupts.
+
+
+
+
+/*
+while (device.readable())
+ {
+ c = device.getc();
+ if (c == 'F'){
+ index = 1;
+ }
+
+ if (index == 1){
+ if (c == tens){
+ index = 2;
+ }
+ }
+
+ if (index == 2){
+ if (c == ones);{
+ index = 3;
+ }
+ }
+
+ if (index == 3){
+ if (c == '1'){
+ teethRequested = 1;
+ }
+ else if (c == '2'){
+ teethRequested = 2;
+ }
+ else if (c == '3'){
+ teethRequested = 3;
+ }
+ else if (c == '4'){
+ teethRequested = 4;
+ }
+ index = 4;
+ }
+
+ if (index == 4){
+ if (c == 'L'){
+ lFeed();
+ index = 0;
+ }
+ }
+ if (c == 'R'){
+ rFeed();
+ index = 0;
+ }
+ }
+
+ */
+tapePotADC = ((tapePot)/ 103); // covert 1024 to (1 -9) for the PWM setting.
+
+
+
+if(lOpto){
+lLed = 0;}
+else{
+lLed = 1;
+
+if(rOpto){
+rLed = 0;}
+else{
+rLed = 1;
+
+}
+}
+
+}
+}
\ No newline at end of file
diff -r 000000000000 -r 432e18641e71 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Mon Nov 13 07:45:13 2017 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/e7ca05fa8600 \ No newline at end of file