Revision 0:3ca0289b7f8a, committed 2021-09-03

Comitter:

CCastrop1012

Date:

Fri Sep 03 04:58:03 2021 +0000

Commit message:

Control de velocidad y direccion de giro de un motor PAP con la tarjeta F407. Se incluyen las librerias con la clase Motor.

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Motor.cpp	Fri Sep 03 04:58:03 2021 +0000
@@ -0,0 +1,42 @@
+#include "mbed.h"
+#include "Motor.h"
+
+
+MotorContinuo::MotorContinuo(PinName L1, PinName L2, PinName speedPin) : 
+_L1(L1), _L2(L2), _speedPin(speedPin)
+{
+    _speedPin.period_ms(5);
+    _speedPin.write(0);
+};
+ 
+
+void MotorContinuo::Forward()   { _L1=1;  _L2=0;}
+void MotorContinuo::Back()      { _L1=0;  _L2=1;}
+void MotorContinuo::Stop()      { _L1=0;  _L2=0;}
+void MotorContinuo::StopT()     { _L1=1;  _L2=1;}
+void MotorContinuo::SpeedDuty(int v) { _speedPin.write(float(v/100.0));}
+void SpinLength_ms(float t)    { t++;}// Duración del giro en ms
+void SpinLength(float t)       { t++;}
+    
+ /*   
+void scolor_TCS3200::SetMode(uint8_t mode) {
+    switch (mode){
+        case SCALE_100:  _s0= 1; _s1=1; break;
+        case SCALE_20:   _s0=1 ; _s1=0; break;
+        case SCALE_2:    _s0=0 ; _s1=1; break;
+        case POWER_DOWN: _s0=0 ; _s1=0; break;
+    } 
+};
+ 
+ 
+long  scolor_TCS3200::pulsewidth() {
+    while(!_s_in);
+    timer.start();
+    while(_s_in);
+    timer.stop();
+    float pulsewidth_v = timer.read_us();
+    timer.reset();
+    return pulsewidth_v;
+};
+*/          
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Motor.h	Fri Sep 03 04:58:03 2021 +0000
@@ -0,0 +1,78 @@
+#ifndef Motor_H
+#define Motor_H
+#include "mbed.h"
+ /* **************************************************************************
+ 
+@CCastrop
+cristiank.castrop@ecci.edu.co
+
+
+   datasheet https://www.mouser.com/catalog/specsheets/TCS3200-E11.pdf
+
+
+    S0      Frequency scaling 
+    S1      Frequency scaling 
+    S2      Photo diode selection 
+    S3      Photo diode selection 
+    OutFreq Frequency
+
+       -----------------------------------
+      |   ____________     ____________   |
+----> |  |            |   |            |  |                ___     ___ 
+Light |  | Photodiode |   |   Current  |--|---OUTPUT_FREQ |   |___|   |___
+----> |  |   Array    |---|     to     |  |
+      |  |            |   |  Frequency |  |
+      |  |____________|   |____________|  |
+      |       ^  ^             ^  ^       |
+       -------|--|-------------|--|-------
+              |  |             |  |
+             S2 S3            S0  S1
+             
+SO | S1 | OUTPUT FREQUENCY SCALING |        | S2 | S3 |   PHOTODIODE TYPE   |
+ 0 | 0  |        power down        |        |  0 | 0  |         Red         |
+ 0 | 1  |           2%             |        |  0 | 1  |         Blue        |
+ 1 | 0  |           20%            |        |  1 | 0  |  Clear (no filter)  |
+ 1 | 1  |           100%           |        |  1 | 1  |         Green       | 
+             
+******************************************************************************/
+
+
+
+class MotorContinuo {
+  public:
+  
+    MotorContinuo(PinName L1, PinName L2, PinName speedPin); // declaracion del Objeto
+    
+    void Forward();     // Da un sentido de giro al motor
+    void Back();        // Genera un sentido de giro contrario al de Forward
+    void Stop();        // Detiene el motor dejando el movimiento libre
+    void StopT();       // Detiene el motor truncando o enclavando el movimiento(Lo mantiene quieto).
+    void SpeedDuty(int v);   // Varia la velocidad de giro del motor de 0 a 100%
+    void SpinLength_ms(float t);  // Duración del giro en ms
+    void SpinLength(float t);  // Duración del giro
+    
+    float GetSpeed();   // Return Duty Cycle of PWM in % de 0 a 100
+    
+  private:
+    DigitalOut _L1;
+    DigitalOut _L2;
+    PwmOut _speedPin;
+    
+
+};
+#endif
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mainpwm.cpp	Fri Sep 03 04:58:03 2021 +0000
@@ -0,0 +1,55 @@
+#include "mbed.h"
+
+DigitalOut IzqDireccion(PD_13);
+DigitalOut LED(PD_14);
+DigitalOut DerDireccion(PD_11);
+
+
+PwmOut Speed(PB_15);
+
+int main() {
+    
+    Speed.period_ms(5);
+    
+    while(1)
+     {
+        
+     /// direccion 1   
+        LED = 1;
+        IzqDireccion = 1;
+        DerDireccion = !IzqDireccion;
+        wait_ms(100);
+        
+        /// Speed setting   
+        for(int i = 0; i < 100; i ++)
+        {
+            Speed.write(float(i/100.0));
+            wait(1);
+            
+            }
+            
+      /// Set a 0      
+        IzqDireccion = 0;
+        DerDireccion = 0;
+        wait_ms(100);
+    
+    /// Direccion 2    
+        LED = 0;
+        IzqDireccion = 0;
+        DerDireccion = !IzqDireccion;
+        wait_ms(100);
+        
+        // Speed Setting
+        for(int i = 0; i < 10; i ++)
+        {
+            Speed.write(float(i/100.0));
+            wait(1);
+            
+            }
+            
+     /// Set to 0       
+        IzqDireccion = 0;
+        DerDireccion = 0;
+        wait_ms(100);
+    }
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Fri Sep 03 04:58:03 2021 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/mbed_official/code/mbed/builds/3a7713b1edbc
\ No newline at end of file