Cristian Castro / Mbed 2 deprecated D04-F407_Encoder1

Uso de la clase Motor para el control de velocidad de un motor continuo con encoder.

Dependencies:   mbed

Motor.cpp@0:75421f27540e, 2021-09-03 (annotated)

Committer:
CCastrop1012
Date:
Fri Sep 03 05:04:12 2021 +0000
Revision:
0:75421f27540e
Uso de la clase Motor para control de velocidad de motor continuo con encoder.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
CCastrop1012 0:75421f27540e 1 #include "mbed.h"
CCastrop1012 0:75421f27540e 2 #include "Motor.h"
CCastrop1012 0:75421f27540e 3
CCastrop1012 0:75421f27540e 4
CCastrop1012 0:75421f27540e 5 MotorContinuo::MotorContinuo(PinName _L1, PinName _L2, PinName _speedPin, PinName _encodin, PinName _PosInicial, int _EncodPulses) :
CCastrop1012 0:75421f27540e 6 L1(_L1), L2(_L2), speedPin(_speedPin), encodin(_encodin), PosInicial(_PosInicial), EncodPulses(_EncodPulses)
CCastrop1012 0:75421f27540e 7 {
CCastrop1012 0:75421f27540e 8 speedPin.period_ms(2);
CCastrop1012 0:75421f27540e 9 speedPin.write(0);
CCastrop1012 0:75421f27540e 10
CCastrop1012 0:75421f27540e 11 };
CCastrop1012 0:75421f27540e 12
CCastrop1012 0:75421f27540e 13 void MotorContinuo::Forward() { L1=1; L2=0;}
CCastrop1012 0:75421f27540e 14 void MotorContinuo::Back() { L1=0; L2=1;}
CCastrop1012 0:75421f27540e 15 void MotorContinuo::Stop() { L1=0; L2=0;}
CCastrop1012 0:75421f27540e 16 void MotorContinuo::StopT() { L1=1; L2=1;}
CCastrop1012 0:75421f27540e 17 void MotorContinuo::SpeedDuty(int v) { speedPin.write(float(v/100.0));}
CCastrop1012 0:75421f27540e 18 void MotorContinuo::SpinLength_ms(float t) { t++;}// Duración del giro en ms
CCastrop1012 0:75421f27540e 19 void MotorContinuo::SpinLength(float t) { t++;};
CCastrop1012 0:75421f27540e 20
CCastrop1012 0:75421f27540e 21
CCastrop1012 0:75421f27540e 22
CCastrop1012 0:75421f27540e 23 MotorDiscreto::MotorDiscreto(PinName _Dir, PinName _Step, int _NPasos, PinName _encodin, PinName _PosInicial, int _EncodPulses) :
CCastrop1012 0:75421f27540e 24 Dir(_Dir), Step(_Step), NPasos(_NPasos), encodin(_encodin), PosInicial(_PosInicial), EncodPulses(_EncodPulses)
CCastrop1012 0:75421f27540e 25 {
CCastrop1012 0:75421f27540e 26
CCastrop1012 0:75421f27540e 27
CCastrop1012 0:75421f27540e 28
CCastrop1012 0:75421f27540e 29 };
CCastrop1012 0:75421f27540e 30
CCastrop1012 0:75421f27540e 31 void MotorDiscreto::moveMotor(void)
CCastrop1012 0:75421f27540e 32 {
CCastrop1012 0:75421f27540e 33 if (StepOnHold != 0)
CCastrop1012 0:75421f27540e 34 {
CCastrop1012 0:75421f27540e 35 Step = !Step; // Se hace elcambio de estado en el pin Step
CCastrop1012 0:75421f27540e 36 entradas++; // se registra cada paso efectivo el cual es valido cada 2 entradas
CCastrop1012 0:75421f27540e 37 // 1ra entrada: tiempo en Bajo
CCastrop1012 0:75421f27540e 38 // 2da entrada: tiempo en Alto
CCastrop1012 0:75421f27540e 39 // Es decir cuando Step cumple un periodo.
CCastrop1012 0:75421f27540e 40 if (entradas >= 2) // cuando se registran 2 entradas se disminuye un paso
CCastrop1012 0:75421f27540e 41 {
CCastrop1012 0:75421f27540e 42 StepOnHold--; // Se elimina 1 paso de los pendientes
CCastrop1012 0:75421f27540e 43 entradas = 0;
CCastrop1012 0:75421f27540e 44 }
CCastrop1012 0:75421f27540e 45
CCastrop1012 0:75421f27540e 46 Move.attach(callback(this,&MotorDiscreto::moveMotor), (TStep/2) ); // Reiniciamos el tiempo de imterrupcion
CCastrop1012 0:75421f27540e 47
CCastrop1012 0:75421f27540e 48 }
CCastrop1012 0:75421f27540e 49 else if (StepOnHold == 0)
CCastrop1012 0:75421f27540e 50 {
CCastrop1012 0:75421f27540e 51 Move.detach();
CCastrop1012 0:75421f27540e 52 }
CCastrop1012 0:75421f27540e 53 }
CCastrop1012 0:75421f27540e 54
CCastrop1012 0:75421f27540e 55
CCastrop1012 0:75421f27540e 56 void MotorDiscreto::Forward() { Dir=1;}
CCastrop1012 0:75421f27540e 57 void MotorDiscreto::Back() { Dir=0;}
CCastrop1012 0:75421f27540e 58 void MotorDiscreto::Stop() { EnablePin = 0; }
CCastrop1012 0:75421f27540e 59 void MotorDiscreto::StopT() { Move.detach();}
CCastrop1012 0:75421f27540e 60 void MotorDiscreto::StepFreq(int n) { StepsBySecond = n; TStep = (1/n);}
CCastrop1012 0:75421f27540e 61 void MotorDiscreto::RunStep(long n){ StepOnHold = n; Move.attach(callback(this,&MotorDiscreto::moveMotor), (TStep/2) ); }// Duración del giro en ms
CCastrop1012 0:75421f27540e 62 void MotorDiscreto::Run(float t) { StepOnHold = long(t/TStep); Move.attach(callback(this,&MotorDiscreto::moveMotor), (TStep/2) ); }
CCastrop1012 0:75421f27540e 63 void MotorDiscreto::RunRound(int n) { StepOnHold = (NPasos * n); Move.attach(callback(this,&MotorDiscreto::moveMotor), (TStep/2) ); }
CCastrop1012 0:75421f27540e 64
CCastrop1012 0:75421f27540e 65 void Ustep(int resolucion, DigitalOut* _M0, DigitalOut* _M1, DigitalOut* _M2)
CCastrop1012 0:75421f27540e 66 {
CCastrop1012 0:75421f27540e 67
CCastrop1012 0:75421f27540e 68 switch(resolucion)
CCastrop1012 0:75421f27540e 69 {
CCastrop1012 0:75421f27540e 70 case 1: *_M0 = 0; *_M1 = 0; *_M2 = 0;
CCastrop1012 0:75421f27540e 71 break;
CCastrop1012 0:75421f27540e 72 case 2: *_M0 = 1; *_M1 = 0; *_M2 = 0;
CCastrop1012 0:75421f27540e 73 break;
CCastrop1012 0:75421f27540e 74 case 4: *_M0 = 0; *_M1 = 1; *_M2 = 0;
CCastrop1012 0:75421f27540e 75 break;
CCastrop1012 0:75421f27540e 76 case 8: *_M0 = 1; *_M1 = 1; *_M2 = 1;
CCastrop1012 0:75421f27540e 77 break;
CCastrop1012 0:75421f27540e 78 case 16: *_M0 = 0; *_M1 = 0; *_M2 = 1;
CCastrop1012 0:75421f27540e 79 break;
CCastrop1012 0:75421f27540e 80 case 32: *_M0 = 1; *_M1 = 0; *_M2 = 1;
CCastrop1012 0:75421f27540e 81 break;
CCastrop1012 0:75421f27540e 82
CCastrop1012 0:75421f27540e 83 default: *_M0 = 0; *_M1 = 0; *_M2 = 0;
CCastrop1012 0:75421f27540e 84
CCastrop1012 0:75421f27540e 85
CCastrop1012 0:75421f27540e 86 }
CCastrop1012 0:75421f27540e 87
CCastrop1012 0:75421f27540e 88
CCastrop1012 0:75421f27540e 89 }
CCastrop1012 0:75421f27540e 90
CCastrop1012 0:75421f27540e 91
CCastrop1012 0:75421f27540e 92 /*
CCastrop1012 0:75421f27540e 93 void scolor_TCS3200::SetMode(uint8_t mode) {
CCastrop1012 0:75421f27540e 94 switch (mode){
CCastrop1012 0:75421f27540e 95 case SCALE_100: _s0= 1; _s1=1; break;
CCastrop1012 0:75421f27540e 96 case SCALE_20: _s0=1 ; _s1=0; break;
CCastrop1012 0:75421f27540e 97 case SCALE_2: _s0=0 ; _s1=1; break;
CCastrop1012 0:75421f27540e 98 case POWER_DOWN: _s0=0 ; _s1=0; break;
CCastrop1012 0:75421f27540e 99 }
CCastrop1012 0:75421f27540e 100 };
CCastrop1012 0:75421f27540e 101
CCastrop1012 0:75421f27540e 102
CCastrop1012 0:75421f27540e 103 long scolor_TCS3200::pulsewidth() {
CCastrop1012 0:75421f27540e 104 while(!_s_in);
CCastrop1012 0:75421f27540e 105 timer.start();
CCastrop1012 0:75421f27540e 106 while(_s_in);
CCastrop1012 0:75421f27540e 107 timer.stop();
CCastrop1012 0:75421f27540e 108 float pulsewidth_v = timer.read_us();
CCastrop1012 0:75421f27540e 109 timer.reset();
CCastrop1012 0:75421f27540e 110 return pulsewidth_v;
CCastrop1012 0:75421f27540e 111 };
CCastrop1012 0:75421f27540e 112 */
CCastrop1012 0:75421f27540e 113