Jon Freeman / Mbed 2 deprecated Loco_10_17_SD

Electric Locomotive control system. Touch screen driver control, includes regenerative braking, drives 4 brushless motors, displays speed MPH, system volts and power

Dependencies:   BSP_DISCO_F746NG FastPWM LCD_DISCO_F746NG SD_DISCO_F746NG TS_DISCO_F746NG mbed

Electric_Loco.h@1:8ef34deb5177, 2017-11-13 (annotated)

Committer:
JonFreeman
Date:
Mon Nov 13 09:53:00 2017 +0000
Revision:
1:8ef34deb5177
Brushless Motor electric locomotive congtrol system; Drives 4 motors using touch-screen control.; Displays speed MPH, system volts and power

Who changed what in which revision?

UserRevisionLine numberNew contents of line
JonFreeman 1:8ef34deb5177 1 /* Updated 12 Nov 2017
JonFreeman 1:8ef34deb5177 2 Jon Freeman
JonFreeman 1:8ef34deb5177 3
JonFreeman 1:8ef34deb5177 4 5" and 7.25" gauge Electric Locomotive Controller - ST DISCO-F746NG
JonFreeman 1:8ef34deb5177 5 Uses built in display and touch screen.
JonFreeman 1:8ef34deb5177 6
JonFreeman 1:8ef34deb5177 7 Display shows 'analogue' moving coil meter movements for :
JonFreeman 1:8ef34deb5177 8 Locomotive speed Miles per Hour
JonFreeman 1:8ef34deb5177 9 System voltage (range 20v - 90v or thereabouts)
JonFreeman 1:8ef34deb5177 10 Power Watts delivered to drive motors.
JonFreeman 1:8ef34deb5177 11
JonFreeman 1:8ef34deb5177 12 Touch screen has three 'buttons', these are currently unused, and are where the meter movements show.
JonFreeman 1:8ef34deb5177 13 Idea is to use two for two horns,
JonFreeman 1:8ef34deb5177 14
JonFreeman 1:8ef34deb5177 15 Display has 'slider' touch control. This drives the loco.
JonFreeman 1:8ef34deb5177 16 Control in central position when not driving or drfting.
JonFreeman 1:8ef34deb5177 17 Moving towards bottom of screen applies regenerative braking - move further down applies harder braking.
JonFreeman 1:8ef34deb5177 18 Moving towards top of screen powers drive motors, move further up applies more torque (current controller implemented)
JonFreeman 1:8ef34deb5177 19 Take finger off and control drifts down to central 'neutral' position.
JonFreeman 1:8ef34deb5177 20 */
JonFreeman 1:8ef34deb5177 21 #define MAX_TOUCHES 6 // Touch screen can decode up to this many simultaneous finger press positions
JonFreeman 1:8ef34deb5177 22 #define NEUTRAL_VAL 150 // Number of pixels
JonFreeman 1:8ef34deb5177 23
JonFreeman 1:8ef34deb5177 24 #define SLIDERX 418 // slider graphic x position
JonFreeman 1:8ef34deb5177 25 #define SLIDERY 2 // slider graphic y position
JonFreeman 1:8ef34deb5177 26 #define SLIDERW 50 // pixel width of slider
JonFreeman 1:8ef34deb5177 27 #define SLIDERH 268 // pixel height of slider
JonFreeman 1:8ef34deb5177 28
JonFreeman 1:8ef34deb5177 29 // To get speedo reading correctly, need to use correct gear ratio and wheel size info
JonFreeman 1:8ef34deb5177 30 //#define BOGIE_5_INCH
JonFreeman 1:8ef34deb5177 31 #define BOGIE_7_and_a_quarter_INCH
JonFreeman 1:8ef34deb5177 32
JonFreeman 1:8ef34deb5177 33 const int
JonFreeman 1:8ef34deb5177 34
JonFreeman 1:8ef34deb5177 35 NUMBER_OF_MOTORS = 4, // 1 to 6 motors
JonFreeman 1:8ef34deb5177 36
JonFreeman 1:8ef34deb5177 37 BUTTON_RAD = (SLIDERW / 2) - 4, // radius of circular 'knob' in slider control
JonFreeman 1:8ef34deb5177 38 MIN_POS = BUTTON_RAD + 5, // top of screen
JonFreeman 1:8ef34deb5177 39 MAX_POS = SLIDERH - (BUTTON_RAD + 1), // bottom of screen
JonFreeman 1:8ef34deb5177 40 CIRC_CTR = SLIDERX + BUTTON_RAD + 4;
JonFreeman 1:8ef34deb5177 41
JonFreeman 1:8ef34deb5177 42 static const double
JonFreeman 1:8ef34deb5177 43 #ifdef BOGIE_7_and_a_quarter_INCH
JonFreeman 1:8ef34deb5177 44 MOTOR_PINION_T = 17.0, // motor pinion teeth, wheel gear teeth and wheel dia required to calculate speed and distance.
JonFreeman 1:8ef34deb5177 45 WHEEL_GEAR_T = 76.0,
JonFreeman 1:8ef34deb5177 46 WHEEL_DIA_MM = 147.0,
JonFreeman 1:8ef34deb5177 47 #endif
JonFreeman 1:8ef34deb5177 48 #ifdef BOGIE_5_INCH
JonFreeman 1:8ef34deb5177 49 MOTOR_PINION_T = 27.0, // motor pinion teeth, wheel gear teeth and wheel dia required to calculate speed and distance.
JonFreeman 1:8ef34deb5177 50 WHEEL_GEAR_T = 85.0,
JonFreeman 1:8ef34deb5177 51 WHEEL_DIA_MM = 98.0,
JonFreeman 1:8ef34deb5177 52 #endif
JonFreeman 1:8ef34deb5177 53 PI = 4.0 * atan(1.0),
JonFreeman 1:8ef34deb5177 54 WHEEL_CIRCUMFERENCE_METRE = PI * WHEEL_DIA_MM / 1000.0,
JonFreeman 1:8ef34deb5177 55 PULSES_PER_WHEEL_REV = 32.0 * WHEEL_GEAR_T / MOTOR_PINION_T,
JonFreeman 1:8ef34deb5177 56 PULSES_PER_METRE = PULSES_PER_WHEEL_REV / WHEEL_CIRCUMFERENCE_METRE,
JonFreeman 1:8ef34deb5177 57 rpm2mph = 60.0 // = Motor Revs per hour;
JonFreeman 1:8ef34deb5177 58 * (MOTOR_PINION_T / WHEEL_GEAR_T) // = Wheel rev per hour
JonFreeman 1:8ef34deb5177 59 * WHEEL_CIRCUMFERENCE_METRE // = metres per hour
JonFreeman 1:8ef34deb5177 60 * 39.37 // = inches per hour
JonFreeman 1:8ef34deb5177 61 / (1760 * 36) // = miles per hour
JonFreeman 1:8ef34deb5177 62 ;
JonFreeman 1:8ef34deb5177 63
JonFreeman 1:8ef34deb5177 64 const double LOCO_HANDBRAKE_ESCAPE_SPEED = 0.5;
JonFreeman 1:8ef34deb5177 65
JonFreeman 1:8ef34deb5177 66 enum {NO_DPS, ONE_DP};
JonFreeman 1:8ef34deb5177 67 // Assign unique number to every button we may use, and keep count of total number of them
JonFreeman 1:8ef34deb5177 68 enum {
JonFreeman 1:8ef34deb5177 69 ENTER, SLIDER, SPEEDO_BUT, VMETER_BUT, AMETER_BUT,
JonFreeman 1:8ef34deb5177 70 NUMOF_BUTTONS} ; // button names
JonFreeman 1:8ef34deb5177 71 enum {
JonFreeman 1:8ef34deb5177 72 STATES, INACTIVE, RUN, NEUTRAL_DRIFT, REGEN_BRAKE, PARK, HANDBRAKE_SLIPPING};
JonFreeman 1:8ef34deb5177 73
JonFreeman 1:8ef34deb5177 74 struct slide { int position; int oldpos; int state; int direction; bool recalc_run; bool handbrake_slipping;
JonFreeman 1:8ef34deb5177 75 double handbrake_effort; double loco_speed; } ;
JonFreeman 1:8ef34deb5177 76 struct point { int x; int y; } ;
JonFreeman 1:8ef34deb5177 77 //struct rect { struct point a, b; } ;
JonFreeman 1:8ef34deb5177 78 struct key { int keynum; int x; int y; bool pressed; } ;
JonFreeman 1:8ef34deb5177 79 struct ky_bd { int count, slider_y; key ky[MAX_TOUCHES + 1]; bool sli; } ;
JonFreeman 1:8ef34deb5177 80