Floor Couwenberg / Mbed 2 deprecated Motor_constantesbepalen

make sine to determine simulink contants motor

Dependencies:   HIDScope MODSERIAL QEI mbed

Fork of frdm_motorConstantesBepalen_bewerkt by Marieke M

main.cpp@3:941386c5102e, 2016-11-02 (annotated)

Committer:
FloorC
Date:
Wed Nov 02 09:12:53 2016 +0000
Revision:
3:941386c5102e
Parent:
2:78a4dccff486 
motor constantes bepalen, sinus hogere frequentie, werkt??

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Marieke 0:8ea04b138f72 1 #include "mbed.h"
Marieke 0:8ea04b138f72 2 #include "QEI.h"
FloorC 3:941386c5102e 3 //#include "HIDScope.h"
FloorC 3:941386c5102e 4 #include "MODSERIAL.h"
Marieke 0:8ea04b138f72 5
Marieke 0:8ea04b138f72 6 // Definiëren van alle poorten
Marieke 0:8ea04b138f72 7
Marieke 0:8ea04b138f72 8 DigitalIn encoder1A (D13); //Channel A van Encoder 1
Marieke 0:8ea04b138f72 9 DigitalIn encoder1B (D12); //Channel B van Encoder 1
Marieke 0:8ea04b138f72 10 DigitalIn encoder2A (D11); //Channel A van Encoder 2, kan niet op D15
Marieke 0:8ea04b138f72 11 DigitalIn encoder2B (D10); //Channel B van Encoder 2, kan niet op D14
Marieke 0:8ea04b138f72 12 DigitalOut motor1 (D7);
Marieke 0:8ea04b138f72 13 PwmOut pwm_motor1 (D6);
Marieke 0:8ea04b138f72 14 DigitalOut motor2 (D4);
Marieke 0:8ea04b138f72 15 PwmOut pwm_motor2 (D5);
FloorC 3:941386c5102e 16 MODSERIAL pc(USBTX, USBRX);
FloorC 3:941386c5102e 17 //HIDScope scope( 4 );
Marieke 2:78a4dccff486 18 Ticker sample_timer, snelheid_ticker;
Marieke 0:8ea04b138f72 19
Marieke 0:8ea04b138f72 20 double t;
Marieke 2:78a4dccff486 21 double pi=3.14159;
Marieke 2:78a4dccff486 22 double Aout;
Marieke 2:78a4dccff486 23 double PWMAout;
Marieke 2:78a4dccff486 24 //float v_1;
Marieke 2:78a4dccff486 25 int counts1_old;
FloorC 3:941386c5102e 26 double counts1;
FloorC 3:941386c5102e 27 double counts2;
GerhardBerman 1:b7a1138131bb 28 const int cw=0;
GerhardBerman 1:b7a1138131bb 29 const int ccw=1;
GerhardBerman 1:b7a1138131bb 30
FloorC 3:941386c5102e 31
FloorC 3:941386c5102e 32
Marieke 2:78a4dccff486 33 //v_1 = (float) ((counts1 - counts1_old)/0.02);
Marieke 2:78a4dccff486 34 //counts1_old=counts1;
FloorC 3:941386c5102e 35
FloorC 3:941386c5102e 36
Marieke 0:8ea04b138f72 37
Marieke 0:8ea04b138f72 38
Marieke 2:78a4dccff486 39 /*void snelheid()
Marieke 2:78a4dccff486 40 {
Marieke 2:78a4dccff486 41 //counts1 = Encoder1.getPulses();
Marieke 2:78a4dccff486 42 v_1 = (float) ((counts1 - counts1_old)/0.01);
Marieke 2:78a4dccff486 43 counts1_old=counts1;
Marieke 2:78a4dccff486 44 //counts2 = Encoder2.getPulses();
Marieke 2:78a4dccff486 45
Marieke 2:78a4dccff486 46 scope.set(2, v_1);
Marieke 2:78a4dccff486 47 scope.send();
Marieke 2:78a4dccff486 48 }*/
Marieke 2:78a4dccff486 49
Marieke 2:78a4dccff486 50
Marieke 0:8ea04b138f72 51 int main() {
FloorC 3:941386c5102e 52
FloorC 3:941386c5102e 53 pc.baud(115200);
Marieke 2:78a4dccff486 54 const double frequency_pwm = 0.5;
Marieke 0:8ea04b138f72 55 pwm_motor1.period(1.0/frequency_pwm);
GerhardBerman 1:b7a1138131bb 56 pwm_motor2.period(1.0/frequency_pwm);
Marieke 0:8ea04b138f72 57 QEI Encoder1(D12, D13, NC, 32); //maakt de encoder aan, NC niet aanwezig, 32 bits
Marieke 0:8ea04b138f72 58 QEI Encoder2(D10, D11, NC, 32); //maakt de encoder aan, NC niet aanwezig, 32 bits
FloorC 3:941386c5102e 59
Marieke 2:78a4dccff486 60 //snelheid_ticker.attach(&snelheid, 0.01f);
Marieke 2:78a4dccff486 61
Marieke 0:8ea04b138f72 62
Marieke 0:8ea04b138f72 63 while(true){
FloorC 3:941386c5102e 64 for (t=0; t<2000; t=t+0.002) {
FloorC 3:941386c5102e 65 Aout= (double) 1*sin(2*pi*2*t);
Marieke 2:78a4dccff486 66 PWMAout=fabs((Aout+1)/2);
GerhardBerman 1:b7a1138131bb 67 if (Aout >=0) //clockwise rotation
Marieke 2:78a4dccff486 68 {motor1.write(cw); //?
GerhardBerman 1:b7a1138131bb 69 }
Marieke 2:78a4dccff486 70 else //counterclockwise rotation
Marieke 2:78a4dccff486 71 {motor1.write(ccw);
Marieke 0:8ea04b138f72 72 }
Marieke 2:78a4dccff486 73 pwm_motor1.write(PWMAout);
GerhardBerman 1:b7a1138131bb 74
Marieke 2:78a4dccff486 75 if (Aout >=0) //clockwise rotation
Marieke 2:78a4dccff486 76 {motor2.write(ccw);
GerhardBerman 1:b7a1138131bb 77 }
Marieke 2:78a4dccff486 78 else //counterclockwise rotation
Marieke 2:78a4dccff486 79 {motor2.write(cw);
GerhardBerman 1:b7a1138131bb 80 }
Marieke 2:78a4dccff486 81 pwm_motor2.write(PWMAout);
GerhardBerman 1:b7a1138131bb 82
Marieke 2:78a4dccff486 83
Marieke 2:78a4dccff486 84
Marieke 2:78a4dccff486 85 //while(true){
Marieke 2:78a4dccff486 86
Marieke 2:78a4dccff486 87 /*motor1 = cw; //clockwise
Marieke 2:78a4dccff486 88 pwm_motor1.write(0.5);
Marieke 2:78a4dccff486 89 motor2 = ccw;
Marieke 2:78a4dccff486 90 pwm_motor2.write(0.5);*/
Marieke 2:78a4dccff486 91 counts1 = Encoder1.getPulses();
Marieke 2:78a4dccff486 92 counts2 = Encoder2.getPulses();
FloorC 3:941386c5102e 93 pc.printf("%f \r\n",counts1);
FloorC 3:941386c5102e 94
Marieke 2:78a4dccff486 95 }
FloorC 3:941386c5102e 96 //scope.set(0, counts1);
FloorC 3:941386c5102e 97 //scope.set(1, counts2);
FloorC 3:941386c5102e 98 //scope.set(2, Aout);
FloorC 3:941386c5102e 99 //scope.set(3, PWMAout);
FloorC 3:941386c5102e 100
FloorC 3:941386c5102e 101 //scope.send();
Marieke 0:8ea04b138f72 102 }
Marieke 0:8ea04b138f72 103 }
Marieke 0:8ea04b138f72 104
Marieke 2:78a4dccff486 105
Marieke 2:78a4dccff486 106