Aukie Hooglugt / Mbed 2 deprecated BMT-M9_motorcontrol_groep3

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Dependencies:   Encoder HIDScope MODSERIAL mbed-dsp mbed

Fork of BMT-M9_motorcontrol by First Last

main.cpp@13:7ec4762ec4ce, 2014-10-17 (annotated)

Committer:
Hooglugt
Date:
Fri Oct 17 08:47:27 2014 +0000
Revision:
13:7ec4762ec4ce
Parent:
11:4f65e70290ac
Child:
14:98925c1ed440
onnodige stukken code verwijdert voor testen motor (step function)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
vsluiter 0:c9e647421e54 1 #include "mbed.h"
vsluiter 0:c9e647421e54 2 #include "encoder.h"
vsluiter 6:0832c6c6bcba 3 #include "HIDScope.h"
vsluiter 6:0832c6c6bcba 4
vsluiter 5:06381e54b94a 5 #define TSAMP 0.01
vsluiter 6:0832c6c6bcba 6
vsluiter 8:15c6cb82c725 7 void clamp(float * in, float min, float max);
vsluiter 0:c9e647421e54 8 volatile bool looptimerflag;
Hooglugt 11:4f65e70290ac 9 HIDScope scope(2);
vsluiter 6:0832c6c6bcba 10
vsluiter 0:c9e647421e54 11 void setlooptimerflag(void)
vsluiter 0:c9e647421e54 12 {
vsluiter 0:c9e647421e54 13 looptimerflag = true;
vsluiter 0:c9e647421e54 14 }
vsluiter 0:c9e647421e54 15
Hooglugt 13:7ec4762ec4ce 16 void clamp(float * in, float min, float max)
Hooglugt 13:7ec4762ec4ce 17 {
Hooglugt 13:7ec4762ec4ce 18 *in > min ? *in < max? : *in = max: *in = min;
Hooglugt 13:7ec4762ec4ce 19 }
vsluiter 1:5ac85aad9da4 20
vsluiter 4:1a53b06eeb7f 21 int main()
vsluiter 4:1a53b06eeb7f 22 {
Hooglugt 13:7ec4762ec4ce 23 Encoder motor1(PTD2,PTD0);
Hooglugt 13:7ec4762ec4ce 24 PwmOut pwm_motor(PTC8);
Hooglugt 13:7ec4762ec4ce 25 pwm_motor.period_us(100); //10kHz PWM frequency
Hooglugt 13:7ec4762ec4ce 26 DigitalOut motordir(PTC9);
vsluiter 0:c9e647421e54 27 Ticker looptimer;
vsluiter 5:06381e54b94a 28 looptimer.attach(setlooptimerflag,TSAMP);
Hooglugt 13:7ec4762ec4ce 29
Hooglugt 13:7ec4762ec4ce 30 wait(10);
Hooglugt 13:7ec4762ec4ce 31
vsluiter 0:c9e647421e54 32 while(1) {
Hooglugt 13:7ec4762ec4ce 33 float new_pwm;
Hooglugt 13:7ec4762ec4ce 34
vsluiter 0:c9e647421e54 35 while(!looptimerflag);
vsluiter 8:15c6cb82c725 36 looptimerflag = false; //clear flag
Hooglugt 13:7ec4762ec4ce 37
Hooglugt 13:7ec4762ec4ce 38 new_pwm = 1;
vsluiter 8:15c6cb82c725 39 clamp(&new_pwm, -1,1);
Hooglugt 13:7ec4762ec4ce 40
Hooglugt 13:7ec4762ec4ce 41 scope.set(0, new_pwm);
Hooglugt 13:7ec4762ec4ce 42 scope.set(1, motor1.getPosition());
vsluiter 6:0832c6c6bcba 43 scope.send();
Hooglugt 13:7ec4762ec4ce 44
vsluiter 0:c9e647421e54 45 if(new_pwm > 0)
vsluiter 7:37b06688b449 46 motordir = 0;
vsluiter 7:37b06688b449 47 else
vsluiter 0:c9e647421e54 48 motordir = 1;
Hooglugt 13:7ec4762ec4ce 49
vsluiter 0:c9e647421e54 50 pwm_motor.write(abs(new_pwm));
vsluiter 0:c9e647421e54 51 }
Hooglugt 13:7ec4762ec4ce 52 }