Feike van Veen / Mbed 2 deprecated Minor_test_serial

Robot tryout

Dependencies:   mbed QEI biquadFilter MODSERIAL FastPWM ttmath Math

Motor_tryout.cpp@12:2382468d36a4, 2019-10-05 (annotated)

Committer:
Feike
Date:
Sat Oct 05 12:27:51 2019 +0000
Revision:
12:2382468d36a4
Parent:
9:61bdf58f856e
Child:
13:18dd7a15603f
Eerdere uitleesmethode de van motor verwijderd. ; Nieuwe uitleesmethode toegevoegd, inclusief counter.; Uitlezen gebeurt in een ticker die in regel 49 wordt aangeroepen.; Tot slot voorwaarde (regel 52) toegevoegd die betrekking heeft op counter

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Feike 4:bd21569250c7 1 #include "mbed.h"
Feike 8:017b813c72bb 2 #include "MODSERIAL.h"
Feike 12:2382468d36a4 3 #include "QEI.h"
Feike 4:bd21569250c7 4
Feike 12:2382468d36a4 5 // ALLE INPUT EN OUTPUT SIGNALEN
Feike 8:017b813c72bb 6 DigitalOut motor1_pwm(PTC2); // aansturen motor 1, via poort PTC2
Feike 12:2382468d36a4 7 DigitalOut motor1_dir(PTC3); // richting motor 1
Feike 12:2382468d36a4 8 DigitalOut motor2_pwm(PTA2); // aansturen motor 2, via poort PTA2
Feike 12:2382468d36a4 9 DigitalOut motor2_dir(PTB23); // richting motor 2
Feike 8:017b813c72bb 10 DigitalIn motor1_1(PTD1); // data vanuit motor 1
Feike 8:017b813c72bb 11 DigitalIn motor1_2(PTD3); // data vanuit motor 1
Feike 8:017b813c72bb 12 AnalogIn input(PTB3); // input van ECG
Feike 8:017b813c72bb 13 MODSERIAL pc(USBTX, USBRX);
Feike 12:2382468d36a4 14 QEI Encoder(D12,D13,NC,64,QEI::X4_ENCODING);
Feike 7:e119b12e5e7f 15
Feike 12:2382468d36a4 16 // DE TICKERS, deze ticker
Feike 12:2382468d36a4 17 Ticker pulse;
Feike 12:2382468d36a4 18 int counts;
Feike 12:2382468d36a4 19 void pulseget()
Feike 12:2382468d36a4 20 {
Feike 12:2382468d36a4 21 counts = Encoder.getPulses();
Feike 12:2382468d36a4 22 }
Feike 12:2382468d36a4 23
Feike 12:2382468d36a4 24 // DE MAIN FUNCTIE
Feike 4:bd21569250c7 25 int main(void)
Feike 8:017b813c72bb 26 {
Feike 8:017b813c72bb 27 pc.baud(115200);
Feike 12:2382468d36a4 28 char cc = pc.getc();
Feike 8:017b813c72bb 29 pc.printf("In de main, check\r\n");
Feike 12:2382468d36a4 30 pc.putc(cc);
Feike 12:2382468d36a4 31 if (cc == 'm' or cc == 'm')
Feike 8:017b813c72bb 32 {
Feike 8:017b813c72bb 33 pc.printf("In de if, check\r\n");
Feike 8:017b813c72bb 34 pc.baud(115200);
Feike 8:017b813c72bb 35 int frequency_pwm = 10000; //10 kHz PWM
Feike 8:017b813c72bb 36 PwmOut motor1_pwm(PTC2);
Feike 8:017b813c72bb 37 PwmOut motor2_pwm(PTA2);
Feike 8:017b813c72bb 38 motor1_pwm.period(1.0/(double)frequency_pwm); // T=1/f
Feike 8:017b813c72bb 39 motor2_pwm.period(1.0/(double)frequency_pwm); // T=1/f
Feike 8:017b813c72bb 40 while(true)
Feike 8:017b813c72bb 41 {
Feike 8:017b813c72bb 42 pc.printf("In de while, check\r\n");
Feike 12:2382468d36a4 43
Feike 12:2382468d36a4 44 // MOTOR 1 START
Feike 12:2382468d36a4 45 int limit = 20000;
Feike 12:2382468d36a4 46 for(int pct = 55 ; pct <= 70 ; pct ++)
Feike 8:017b813c72bb 47 {
Feike 8:017b813c72bb 48 motor1_pwm.write(pct/100.0); // write Duty Cycle
Feike 12:2382468d36a4 49 pulse.attach(pulseget,1.0/100);
Feike 12:2382468d36a4 50 pc.printf("Motor 1 speed %i and the count is %i\r\n", pct, counts);
Feike 8:017b813c72bb 51 wait(1.0f);
Feike 12:2382468d36a4 52 if(counts > limit)
Feike 12:2382468d36a4 53 {
Feike 12:2382468d36a4 54 break;
Feike 12:2382468d36a4 55 }
Feike 8:017b813c72bb 56 }
Feike 8:017b813c72bb 57 motor1_pwm.write(0.0f); // motor 1 off again
Feike 8:017b813c72bb 58 pc.printf("Motor 1 off\r\n");
Feike 12:2382468d36a4 59
Feike 12:2382468d36a4 60 // MOTOR TWEE START
Feike 8:017b813c72bb 61 for(int pct = 0 ; pct <= 100 ; pct += 10)
Feike 8:017b813c72bb 62 {
Feike 8:017b813c72bb 63 pc.printf("Motor 2\r\n");
Feike 8:017b813c72bb 64 motor2_pwm.write(pct/100.0); // write Duty Cycle
Feike 8:017b813c72bb 65 wait(1.0f);
Feike 8:017b813c72bb 66 }
Feike 8:017b813c72bb 67 motor2_pwm.write(0.0f); // motor 2 off again
Feike 8:017b813c72bb 68 pc.printf("Motor 2 off\r\n");
Feike 8:017b813c72bb 69 }
Feike 8:017b813c72bb 70 }
Feike 12:2382468d36a4 71 }