Lian Beenhakker / Mbed 2 deprecated Switch_motoren_motoren

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Dependencies:   MODSERIAL QEI mbed

main.cpp@2:d7e629ab497f, 2016-11-01 (annotated)

Committer:
LBeen
Date:
Tue Nov 01 14:55:42 2016 +0000
Revision:
2:d7e629ab497f
Parent:
1:52a95e4b5662 
Ticker op 0.01 seconden, ticker werkt niet

Who changed what in which revision?

UserRevisionLine numberNew contents of line
LBeen 0:602d9d743817 1 #include "mbed.h"
LBeen 0:602d9d743817 2 #include "MODSERIAL.h"
LBeen 0:602d9d743817 3 #include "QEI.h"
LBeen 0:602d9d743817 4
LBeen 0:602d9d743817 5 MODSERIAL pc(USBTX, USBRX);
LBeen 0:602d9d743817 6
LBeen 0:602d9d743817 7 //Pinnen voor spieren
LBeen 0:602d9d743817 8 AnalogIn Spier1 (A0);
LBeen 0:602d9d743817 9 AnalogIn Spier2 (A1);
LBeen 0:602d9d743817 10 InterruptIn Spier3 (D2);
LBeen 0:602d9d743817 11
LBeen 0:602d9d743817 12 //Pinnen voor motor
LBeen 0:602d9d743817 13 DigitalOut motor1direct (D4);
LBeen 0:602d9d743817 14 DigitalOut motor2direct (D7);
LBeen 0:602d9d743817 15 PwmOut motor1pwm (D5);
LBeen 0:602d9d743817 16 PwmOut motor2pwm (D6);
LBeen 0:602d9d743817 17 //QEI Encoder1(D10, D11, NC, 32); // met encoder onthouden waar je bent
LBeen 0:602d9d743817 18 //QEI Encoder2(D12, D13, NC, 32); // met encoder onthouden waar je bent
LBeen 0:602d9d743817 19
LBeen 0:602d9d743817 20 //Define variables
LBeen 0:602d9d743817 21 volatile int indrukken = 0;
LBeen 0:602d9d743817 22 volatile int i = 0;
LBeen 0:602d9d743817 23 volatile float MV = 0;
LBeen 0:602d9d743817 24 //const float maxVelocity = 8.4;
LBeen 0:602d9d743817 25 //const float MotorGain=8.4;
LBeen 0:602d9d743817 26
LBeen 2:d7e629ab497f 27 //STOP KNOP
LBeen 2:d7e629ab497f 28 InterruptIn button(D3);
LBeen 2:d7e629ab497f 29
LBeen 1:52a95e4b5662 30
LBeen 1:52a95e4b5662 31 //Als straks de kalibratie af is, dan moet Spier1 > 0.4 en Spier2 >0.4 nog aangepast worden met boven threshold of niet
LBeen 1:52a95e4b5662 32
LBeen 2:d7e629ab497f 33 Ticker motordraaien;
LBeen 2:d7e629ab497f 34
LBeen 0:602d9d743817 35 //Motorvalue is een waarde tussen -1 en 1 waarmee de motor een richting en een snelheid krijgt
LBeen 0:602d9d743817 36 float GetMotorValue() //We nemen aan dat je maar één spier tegelijkertijd kan aanspannen
LBeen 0:602d9d743817 37 {
LBeen 0:602d9d743817 38 pc.printf("\n\n\n");
LBeen 0:602d9d743817 39 if(Spier1 > 0.4f && Spier2 < 0.4f) //Spier komt boven de threshold uit en spier2 niet
LBeen 0:602d9d743817 40 {
LBeen 0:602d9d743817 41 MV = 0.5;
LBeen 0:602d9d743817 42 pc.printf("Spier 1 is aangespannen\r\n");
LBeen 0:602d9d743817 43 }
LBeen 0:602d9d743817 44 else if(Spier1 < 0.4f && Spier2 > 0.4f)
LBeen 0:602d9d743817 45 {
LBeen 0:602d9d743817 46 MV = -0.5;
LBeen 0:602d9d743817 47 pc.printf("Spier 2 is aangespannen\r\n");
LBeen 0:602d9d743817 48 }
LBeen 0:602d9d743817 49 else if(Spier1 <0.4f && Spier2 <0.4f)
LBeen 0:602d9d743817 50 {
LBeen 0:602d9d743817 51 MV = 0;
LBeen 0:602d9d743817 52 pc.printf("Geen spier is aangespannen\r\n");
LBeen 0:602d9d743817 53 }
LBeen 0:602d9d743817 54 else
LBeen 0:602d9d743817 55 {
LBeen 0:602d9d743817 56 MV = 0;
LBeen 0:602d9d743817 57 pc.printf("Beide spieren zijn aangespannen\r\n");
LBeen 0:602d9d743817 58 }
LBeen 0:602d9d743817 59 pc.printf("de motorvalue is %f\n\n\r",MV);
LBeen 0:602d9d743817 60 return MV;
LBeen 0:602d9d743817 61 }
LBeen 0:602d9d743817 62
LBeen 0:602d9d743817 63 //Aan de hand van de motorvalue wordt de motor aangezet
LBeen 0:602d9d743817 64 void SetMotor1(float MV)
LBeen 0:602d9d743817 65 {
LBeen 0:602d9d743817 66 //Given -1<=motorValue<=1, this sets the PWM and direction
LBeen 0:602d9d743817 67 // bits for motor 1. Positive value makes motor rotating
LBeen 0:602d9d743817 68 // clockwise. motorValues outside range are truncated to
LBeen 0:602d9d743817 69 // within range
LBeen 0:602d9d743817 70 if (MV >=0)
LBeen 0:602d9d743817 71 {
LBeen 0:602d9d743817 72 motor1direct = 1;
LBeen 0:602d9d743817 73 pc.printf("motordirect=1\n\r"); //De motor draait in positieve richting, tegen de klok in
LBeen 0:602d9d743817 74 }
LBeen 0:602d9d743817 75 else
LBeen 0:602d9d743817 76 {
LBeen 0:602d9d743817 77 motor1direct = 0;
LBeen 0:602d9d743817 78 pc.printf("motordirect=0\n\r"); //De motor draait in negatieve richting, met de klok mee
LBeen 0:602d9d743817 79 }
LBeen 0:602d9d743817 80 if (fabs(MV)>1)
LBeen 0:602d9d743817 81 {
LBeen 0:602d9d743817 82 motor1pwm = 1;
LBeen 0:602d9d743817 83 pc.printf("motorpwm = 1\n\r"); //De snelheid waarmee de motor draait is maximaal, dus 1
LBeen 0:602d9d743817 84 }
LBeen 0:602d9d743817 85 else
LBeen 0:602d9d743817 86 {
LBeen 0:602d9d743817 87 motor1pwm = fabs(MV);
LBeen 0:602d9d743817 88 pc.printf("motorpwm = %f\n\n\r",fabs(MV)); //De snelheid waarmee de motor draait is de absolute waarde van de motorvalue
LBeen 0:602d9d743817 89 }
LBeen 0:602d9d743817 90 }
LBeen 0:602d9d743817 91
LBeen 0:602d9d743817 92 void SetMotor2(float MV)
LBeen 0:602d9d743817 93 {
LBeen 0:602d9d743817 94 //Given -1<=motorValue<=1, this sets the PWM and direction
LBeen 0:602d9d743817 95 // bits for motor 1. Positive value makes motor rotating
LBeen 0:602d9d743817 96 // clockwise. motorValues outside range are truncated to
LBeen 0:602d9d743817 97 // within range
LBeen 0:602d9d743817 98 if (MV >=0)
LBeen 0:602d9d743817 99 {
LBeen 0:602d9d743817 100 motor2direct = 1;
LBeen 0:602d9d743817 101 pc.printf("motordirect=1\n\r"); //De motor draait in positieve richting, tegen de klok in
LBeen 0:602d9d743817 102 }
LBeen 0:602d9d743817 103 else
LBeen 0:602d9d743817 104 {
LBeen 0:602d9d743817 105 motor2direct = 0;
LBeen 0:602d9d743817 106 pc.printf("motordirect=0\n\r"); //De motor draait in negatieve richting, met de klok mee
LBeen 0:602d9d743817 107 }
LBeen 0:602d9d743817 108 if (fabs(MV)>1)
LBeen 0:602d9d743817 109 {
LBeen 0:602d9d743817 110 motor2pwm = 1;
LBeen 0:602d9d743817 111 pc.printf("motorpwm = 1\n\r"); //De snelheid waarmee de motor draait is maximaal, dus 1
LBeen 0:602d9d743817 112 }
LBeen 0:602d9d743817 113 else
LBeen 0:602d9d743817 114 {
LBeen 0:602d9d743817 115 motor2pwm = fabs(MV);
LBeen 0:602d9d743817 116 pc.printf("motorpwm = %f\n\n\r",fabs(MV)); //De snelheid waarmee de motor draait is de absolute waarde van de motorvalue
LBeen 0:602d9d743817 117 }
LBeen 0:602d9d743817 118 }
LBeen 0:602d9d743817 119
LBeen 0:602d9d743817 120 void MeasureAndControl()
LBeen 0:602d9d743817 121 {
LBeen 0:602d9d743817 122 float MV = GetMotorValue();
LBeen 0:602d9d743817 123 switch(i)
LBeen 0:602d9d743817 124 {
LBeen 0:602d9d743817 125 case 0:
LBeen 0:602d9d743817 126 pc.printf("Motor 1\n\r");
LBeen 0:602d9d743817 127 SetMotor1(MV);
LBeen 0:602d9d743817 128 SetMotor2(0);
LBeen 0:602d9d743817 129 //SetMotor3(0);
LBeen 0:602d9d743817 130 break;
LBeen 0:602d9d743817 131 case 1:
LBeen 0:602d9d743817 132 pc.printf("Motor 2\n\r");
LBeen 0:602d9d743817 133 SetMotor1(0);
LBeen 0:602d9d743817 134 SetMotor2(MV);
LBeen 0:602d9d743817 135 //SetMotor3(0);
LBeen 0:602d9d743817 136 break;
LBeen 2:d7e629ab497f 137 case 2:
LBeen 0:602d9d743817 138 pc.printf("Motor 3\n\r");
LBeen 0:602d9d743817 139 SetMotor1(0);
LBeen 0:602d9d743817 140 SetMotor2(0);
LBeen 0:602d9d743817 141 //SetMotor3(MV);
LBeen 0:602d9d743817 142 break;
LBeen 0:602d9d743817 143 }
LBeen 0:602d9d743817 144 }
LBeen 0:602d9d743817 145
LBeen 0:602d9d743817 146 void count ()
LBeen 0:602d9d743817 147 {
LBeen 0:602d9d743817 148 indrukken ++;
LBeen 0:602d9d743817 149 pc.printf("Het knopje is %i x ingedrukt\n\r",indrukken);
LBeen 0:602d9d743817 150 i = indrukken%3;
LBeen 0:602d9d743817 151 }
LBeen 0:602d9d743817 152
LBeen 2:d7e629ab497f 153 void reset()
LBeen 2:d7e629ab497f 154 {
LBeen 2:d7e629ab497f 155 motordraaien.detach();
LBeen 2:d7e629ab497f 156 SetMotor1(0);
LBeen 2:d7e629ab497f 157 SetMotor2(0);
LBeen 2:d7e629ab497f 158 //SetMotor3(0);
LBeen 2:d7e629ab497f 159 }
LBeen 2:d7e629ab497f 160
LBeen 0:602d9d743817 161 int main()
LBeen 0:602d9d743817 162 {
LBeen 0:602d9d743817 163 //motorpwm.period(1.0/1000.0);
LBeen 0:602d9d743817 164 pc.baud(115200);
LBeen 0:602d9d743817 165 pc.printf("START\n\r");
LBeen 2:d7e629ab497f 166 motordraaien.attach(MeasureAndControl,0.01);
LBeen 0:602d9d743817 167 Spier3.fall(count);
LBeen 2:d7e629ab497f 168 button.fall(reset);
LBeen 0:602d9d743817 169 while(true){}
LBeen 0:602d9d743817 170 }
LBeen 0:602d9d743817 171