Thijs de Kleijn / Mbed 2 deprecated Motorserialcontrol

Biorobotics, basic motor control with button and potmeter

Dependencies:   HIDScope mbed

main.cpp@0:762bb19ac7d2, 2017-10-06 (annotated)

Committer:
Frimzenner
Date:
Fri Oct 06 10:19:50 2017 +0000
Revision:
0:762bb19ac7d2
Motor control with potmeter and button;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Frimzenner 0:762bb19ac7d2 1 #include "mbed.h"
Frimzenner 0:762bb19ac7d2 2 #include "math.h"
Frimzenner 0:762bb19ac7d2 3
Frimzenner 0:762bb19ac7d2 4 DigitalIn button1(D8);
Frimzenner 0:762bb19ac7d2 5 AnalogIn potMeterIn(A0);
Frimzenner 0:762bb19ac7d2 6 DigitalOut direction(D7);
Frimzenner 0:762bb19ac7d2 7 PwmOut mmp(D6);
Frimzenner 0:762bb19ac7d2 8
Frimzenner 0:762bb19ac7d2 9 float valpow;
Frimzenner 0:762bb19ac7d2 10 int toggle = 0;
Frimzenner 0:762bb19ac7d2 11
Frimzenner 0:762bb19ac7d2 12
Frimzenner 0:762bb19ac7d2 13 int main()
Frimzenner 0:762bb19ac7d2 14 {
Frimzenner 0:762bb19ac7d2 15 while(true) {
Frimzenner 0:762bb19ac7d2 16
Frimzenner 0:762bb19ac7d2 17 if (button1 == false) {
Frimzenner 0:762bb19ac7d2 18 toggle = !toggle;
Frimzenner 0:762bb19ac7d2 19 wait(0.3f);
Frimzenner 0:762bb19ac7d2 20 }
Frimzenner 0:762bb19ac7d2 21 if (toggle == 0) {
Frimzenner 0:762bb19ac7d2 22 direction = 0;
Frimzenner 0:762bb19ac7d2 23 } else if (toggle == 1) {
Frimzenner 0:762bb19ac7d2 24 direction = 1;
Frimzenner 0:762bb19ac7d2 25 }
Frimzenner 0:762bb19ac7d2 26 valpow = potMeterIn.read()/1023;
Frimzenner 0:762bb19ac7d2 27 mmp.write(valpow);
Frimzenner 0:762bb19ac7d2 28 }
Frimzenner 0:762bb19ac7d2 29 //return;
Frimzenner 0:762bb19ac7d2 30 }
Frimzenner 0:762bb19ac7d2 31
Frimzenner 0:762bb19ac7d2 32 /*
Frimzenner 0:762bb19ac7d2 33 float GetReferenceVelocity()
Frimzenner 0:762bb19ac7d2 34 {
Frimzenner 0:762bb19ac7d2 35 // Returns reference velocity in rad/s.
Frimzenner 0:762bb19ac7d2 36 // Positive value means clockwise rotation.
Frimzenner 0:762bb19ac7d2 37 const float maxVelocity=8.4; // in rad/s of course!
Frimzenner 0:762bb19ac7d2 38 float referenceVelocity; // in rad/s
Frimzenner 0:762bb19ac7d2 39 if (button1) {
Frimzenner 0:762bb19ac7d2 40 // Clockwise rotation
Frimzenner 0:762bb19ac7d2 41 referenceVelocity = potMeterIn * maxVelocity;
Frimzenner 0:762bb19ac7d2 42 } else {
Frimzenner 0:762bb19ac7d2 43 // Counterclockwise rotation
Frimzenner 0:762bb19ac7d2 44 referenceVelocity = -1*potMeterIn * maxVelocity;
Frimzenner 0:762bb19ac7d2 45 }
Frimzenner 0:762bb19ac7d2 46 return referenceVelocity;
Frimzenner 0:762bb19ac7d2 47 }
Frimzenner 0:762bb19ac7d2 48
Frimzenner 0:762bb19ac7d2 49 void SetMotor1(float motorValue)
Frimzenner 0:762bb19ac7d2 50 {
Frimzenner 0:762bb19ac7d2 51 // Given -1<=motorValue<=1, this sets the PWM and direction
Frimzenner 0:762bb19ac7d2 52 // bits for motor 1. Positive value makes motor rotating
Frimzenner 0:762bb19ac7d2 53 // clockwise. motorValues outside range are truncated to
Frimzenner 0:762bb19ac7d2 54 // within range
Frimzenner 0:762bb19ac7d2 55 if (motorValue >=0) {
Frimzenner 0:762bb19ac7d2 56 motor1DirectionPin = 1;
Frimzenner 0:762bb19ac7d2 57 } else {
Frimzenner 0:762bb19ac7d2 58 motor1DirectionPin = 0;
Frimzenner 0:762bb19ac7d2 59 }
Frimzenner 0:762bb19ac7d2 60 if (fabs(motorValue)>1) {
Frimzenner 0:762bb19ac7d2 61 motor1MagnitudePin = 1;
Frimzenner 0:762bb19ac7d2 62 } else {
Frimzenner 0:762bb19ac7d2 63 motor1MagnitudePin = fabs(motorValue);
Frimzenner 0:762bb19ac7d2 64 }
Frimzenner 0:762bb19ac7d2 65 }
Frimzenner 0:762bb19ac7d2 66
Frimzenner 0:762bb19ac7d2 67 float FeedForwardControl(float referenceVelocity)
Frimzenner 0:762bb19ac7d2 68 {
Frimzenner 0:762bb19ac7d2 69 // very simple linear feed-forward control
Frimzenner 0:762bb19ac7d2 70 const float MotorGain=8.4; // unit: (rad/s) / PWM
Frimzenner 0:762bb19ac7d2 71 float motorValue = referenceVelocity / MotorGain;
Frimzenner 0:762bb19ac7d2 72 return motorValue;
Frimzenner 0:762bb19ac7d2 73 }
Frimzenner 0:762bb19ac7d2 74
Frimzenner 0:762bb19ac7d2 75 void MeasureAndControl(void)
Frimzenner 0:762bb19ac7d2 76 {
Frimzenner 0:762bb19ac7d2 77 // This function measures the potmeter position, extracts a
Frimzenner 0:762bb19ac7d2 78 // reference velocity from it, and controls the motor with
Frimzenner 0:762bb19ac7d2 79 // a simple FeedForward controller. Call this from a Ticker.
Frimzenner 0:762bb19ac7d2 80 float referenceVelocity = GetReferenceVelocity();
Frimzenner 0:762bb19ac7d2 81 float motorValue = FeedForwardControl(referenceVelocity);
Frimzenner 0:762bb19ac7d2 82 SetMotor1(motorValue);
Frimzenner 0:762bb19ac7d2 83 }
Frimzenner 0:762bb19ac7d2 84 */