Jona Vonk / Mbed OS MoveMotors

Hier zitten extra leipe functies in naast PID ook x en y naar hoeken

Dependencies:   QEI MODSERIAL

main.cpp@1:363c5230fe25, 2019-10-04 (annotated)

Committer:
samzijp
Date:
Fri Oct 04 09:26:44 2019 +0000
Revision:
1:363c5230fe25
Parent:
0:6986a58c4515
Child:
2:f832050b1b4a
Motor control with buttons;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
JonaVonk 0:6986a58c4515 1 /* mbed Microcontroller Library
JonaVonk 0:6986a58c4515 2 * Copyright (c) 2018 ARM Limited
JonaVonk 0:6986a58c4515 3 * SPDX-License-Identifier: Apache-2.0
JonaVonk 0:6986a58c4515 4 */
JonaVonk 0:6986a58c4515 5
JonaVonk 0:6986a58c4515 6 #include "mbed.h"
JonaVonk 0:6986a58c4515 7 #include "MODSERIAL.h"
JonaVonk 0:6986a58c4515 8
JonaVonk 0:6986a58c4515 9
samzijp 1:363c5230fe25 10 DigitalOut M1(D4); //Direction control
samzijp 1:363c5230fe25 11 DigitalOut M2(D7); //Direction control
samzijp 1:363c5230fe25 12 PwmOut E1(D5); //Speed control
samzijp 1:363c5230fe25 13 PwmOut E2(D6); //Speed control
samzijp 1:363c5230fe25 14 InterruptIn Btn1(A0); //Potentionmeter
samzijp 1:363c5230fe25 15 InterruptIn Btn2(A1); //Potentionmeter
samzijp 1:363c5230fe25 16 DigitalIn M1A(D2); //Encoder
samzijp 1:363c5230fe25 17 DigitalIn M1B(D3); //Encoder
JonaVonk 0:6986a58c4515 18
samzijp 1:363c5230fe25 19 //float potVal1;
samzijp 1:363c5230fe25 20 //float potVal2;
JonaVonk 0:6986a58c4515 21 int EncA1;
JonaVonk 0:6986a58c4515 22 int EncB1;
JonaVonk 0:6986a58c4515 23 int counts = 0;
samzijp 1:363c5230fe25 24 int speedCount = 0;
JonaVonk 0:6986a58c4515 25
JonaVonk 0:6986a58c4515 26 //Ticker readEnc
JonaVonk 0:6986a58c4515 27
JonaVonk 0:6986a58c4515 28 MODSERIAL pc(USBTX, USBRX);
JonaVonk 0:6986a58c4515 29
samzijp 1:363c5230fe25 30 void speedUp(){
samzijp 1:363c5230fe25 31 speedCount++;
samzijp 1:363c5230fe25 32 }
samzijp 1:363c5230fe25 33 void speedDown(){
samzijp 1:363c5230fe25 34 speedCount--;
samzijp 1:363c5230fe25 35 }
JonaVonk 0:6986a58c4515 36
JonaVonk 0:6986a58c4515 37
JonaVonk 0:6986a58c4515 38 // main() runs in its own thread in the OS
JonaVonk 0:6986a58c4515 39 int main(){
JonaVonk 0:6986a58c4515 40 pc.baud(9600);
samzijp 1:363c5230fe25 41 Btn1.rise(&speedUp);
samzijp 1:363c5230fe25 42 Btn2.rise(&speedDown);
JonaVonk 0:6986a58c4515 43 while(true){
samzijp 1:363c5230fe25 44 if(speedCount > 0){
samzijp 1:363c5230fe25 45 M1 = 1;
samzijp 1:363c5230fe25 46 E1 = speedCount/10;
samzijp 1:363c5230fe25 47 }
samzijp 1:363c5230fe25 48 else{
samzijp 1:363c5230fe25 49 M1 = 0;
samzijp 1:363c5230fe25 50 E1 = -speedCount/10;
samzijp 1:363c5230fe25 51 }
samzijp 1:363c5230fe25 52 /*potVal1 = Pot1.read();
JonaVonk 0:6986a58c4515 53 potVal2 = Pot2.read();
JonaVonk 0:6986a58c4515 54 if (potVal1 > 0.5){
JonaVonk 0:6986a58c4515 55 M1 = 1;
JonaVonk 0:6986a58c4515 56 E1 = potVal1-0.5;
JonaVonk 0:6986a58c4515 57 }else{
JonaVonk 0:6986a58c4515 58 M1 = 0;
JonaVonk 0:6986a58c4515 59 E1 = -(potVal1-0.5);
JonaVonk 0:6986a58c4515 60 }
JonaVonk 0:6986a58c4515 61 if (potVal2 > 0.5){
JonaVonk 0:6986a58c4515 62 M2 = 1;
JonaVonk 0:6986a58c4515 63 E2 = potVal2-0.5;
JonaVonk 0:6986a58c4515 64 }else{
JonaVonk 0:6986a58c4515 65 M2 = 0;
JonaVonk 0:6986a58c4515 66 E2 = -(potVal2-0.5);
JonaVonk 0:6986a58c4515 67 }
samzijp 1:363c5230fe25 68 pc.printf("Pot1: %f \t Pot2: %f \n\r", potVal1, potVal2);*/
JonaVonk 0:6986a58c4515 69 }
JonaVonk 0:6986a58c4515 70 }