Floris Hoek / Mbed 2 deprecated template_biorobotics_Group_18

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Dependencies:   mbed QEI HIDScope biquadFilter MODSERIAL FastPWM

main.cpp@3:4f281c336a8b, 2019-10-07 (annotated)

Committer:
paulstuiver
Date:
Mon Oct 07 13:02:09 2019 +0000
Revision:
3:4f281c336a8b
Parent:
2:75b2f713161c
Child:
4:fb67a4284aaa
Child:
5:2ae500da8fe1
WORKING motor control

Who changed what in which revision?

UserRevisionLine numberNew contents of line
RobertoO 0:67c50348f842 1 #include "mbed.h"
RobertoO 1:b862262a9d14 2 #include "MODSERIAL.h"
paulstuiver 2:75b2f713161c 3 #include "FastPWM.h"
paulstuiver 2:75b2f713161c 4
paulstuiver 2:75b2f713161c 5 DigitalIn button1(D12);
paulstuiver 2:75b2f713161c 6 AnalogIn pot2(A0);
paulstuiver 2:75b2f713161c 7 Ticker john;
paulstuiver 3:4f281c336a8b 8 DigitalOut motor1Direction(D7);
paulstuiver 3:4f281c336a8b 9 FastPWM motor1Velocity(D6);
paulstuiver 2:75b2f713161c 10 Serial pc(USBTX, USBRX);
paulstuiver 2:75b2f713161c 11 volatile double frequency = 17000.0;
paulstuiver 2:75b2f713161c 12 volatile double period_signal = 1.0/frequency;
paulstuiver 3:4f281c336a8b 13 float vel = 0.0f;
paulstuiver 3:4f281c336a8b 14 float referencevelocity;
paulstuiver 3:4f281c336a8b 15 float motorvalue2;
paulstuiver 2:75b2f713161c 16
paulstuiver 2:75b2f713161c 17 //get the measured velocity
paulstuiver 2:75b2f713161c 18 double getmeasuredvelocity()
paulstuiver 2:75b2f713161c 19 {
paulstuiver 2:75b2f713161c 20 float measuredvelocity;
paulstuiver 2:75b2f713161c 21 measuredvelocity = pot2.read();
paulstuiver 2:75b2f713161c 22 return measuredvelocity;
paulstuiver 2:75b2f713161c 23 }
paulstuiver 2:75b2f713161c 24
paulstuiver 2:75b2f713161c 25 //get the reference of the velocity: positive or negative
paulstuiver 2:75b2f713161c 26 double getreferencevelocity()
paulstuiver 2:75b2f713161c 27 {
paulstuiver 3:4f281c336a8b 28 referencevelocity = -1.0 + 2.0*pot2.read();
paulstuiver 2:75b2f713161c 29 return referencevelocity;
paulstuiver 2:75b2f713161c 30 }
RobertoO 0:67c50348f842 31
paulstuiver 2:75b2f713161c 32 //send value to motor
paulstuiver 2:75b2f713161c 33 void sendtomotor(float motorvalue)
paulstuiver 2:75b2f713161c 34 {
paulstuiver 3:4f281c336a8b 35 motorvalue2 = motorvalue;
paulstuiver 2:75b2f713161c 36 vel = fabs(motorvalue);
paulstuiver 3:4f281c336a8b 37 vel = vel > 1.0f ? 1.0f : vel;
paulstuiver 2:75b2f713161c 38 motor1Velocity = vel;
RobertoO 0:67c50348f842 39
paulstuiver 2:75b2f713161c 40 motor1Direction = (motorvalue > 0.0f);
paulstuiver 2:75b2f713161c 41 }
RobertoO 0:67c50348f842 42
paulstuiver 2:75b2f713161c 43 // function to call reference velocity, measured velocity and controls motor with feedback
paulstuiver 2:75b2f713161c 44 void measureandcontrol(void)
paulstuiver 2:75b2f713161c 45 {
paulstuiver 2:75b2f713161c 46 float referencevelocity = getreferencevelocity();
paulstuiver 2:75b2f713161c 47 float measuredvelocity = getmeasuredvelocity();
paulstuiver 2:75b2f713161c 48 sendtomotor(referencevelocity);
paulstuiver 2:75b2f713161c 49 }
RobertoO 0:67c50348f842 50 int main()
RobertoO 0:67c50348f842 51 {
RobertoO 0:67c50348f842 52 pc.baud(115200);
paulstuiver 2:75b2f713161c 53 pc.printf("Starting...\r\n");
paulstuiver 2:75b2f713161c 54 motor1Velocity.period(period_signal);
paulstuiver 2:75b2f713161c 55 john.attach(measureandcontrol, 0.001f);
paulstuiver 2:75b2f713161c 56 while(true)
paulstuiver 2:75b2f713161c 57 {
paulstuiver 2:75b2f713161c 58 wait(0.5);
paulstuiver 3:4f281c336a8b 59 pc.printf("velocity = %f\r\n", vel);
paulstuiver 3:4f281c336a8b 60 pc.printf("motor1Direction = %i\r\n", (int)motor1Direction);
paulstuiver 3:4f281c336a8b 61 pc.printf("motorvalue2 = %f\r\n", motorvalue2);
RobertoO 0:67c50348f842 62 }
paulstuiver 2:75b2f713161c 63 }