Lorenzo Celiento / Mbed 2 deprecated ovvioBug

Signori, questo è il codice di doukietown...... divertitevi

Dependencies:   HCSR04 TCS3200 X_NUCLEO_IHM12A1 mbed

Fork of HelloWorld_IHM12A1 by ST

main.cpp@7:b0ba8a7b6e9f, 2017-04-05 (annotated)

Committer:
LorenzoCR
Date:
Wed Apr 05 08:36:05 2017 +0000
Revision:
7:b0ba8a7b6e9f
Parent:
6:bd2fa888c101 
hallo

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Manu_L 0:773e2a2be16f 1 /**
Manu_L 0:773e2a2be16f 2 ******************************************************************************
Manu_L 0:773e2a2be16f 3 * @file main.cpp
Manu_L 0:773e2a2be16f 4 * @author IPC Rennes
Manu_L 0:773e2a2be16f 5 * @version V1.0.0
Manu_L 0:773e2a2be16f 6 * @date April 25th, 2016
Manu_L 0:773e2a2be16f 7 * @brief mbed simple application for the STMicroelectronics X-NUCLEO-IHM12A1
Manu_L 0:773e2a2be16f 8 * Motor Control Expansion Board: control of 2 Brush DC motors.
Manu_L 0:773e2a2be16f 9 ******************************************************************************
Manu_L 0:773e2a2be16f 10 * @attention
Manu_L 0:773e2a2be16f 11 *
Manu_L 0:773e2a2be16f 12 * <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
Manu_L 0:773e2a2be16f 13 *
Manu_L 0:773e2a2be16f 14 * Redistribution and use in source and binary forms, with or without modification,
Manu_L 0:773e2a2be16f 15 * are permitted provided that the following conditions are met:
Manu_L 0:773e2a2be16f 16 * 1. Redistributions of source code must retain the above copyright notice,
Manu_L 0:773e2a2be16f 17 * this list of conditions and the following disclaimer.
Manu_L 0:773e2a2be16f 18 * 2. Redistributions in binary form must reproduce the above copyright notice,
Manu_L 0:773e2a2be16f 19 * this list of conditions and the following disclaimer in the documentation
Manu_L 0:773e2a2be16f 20 * and/or other materials provided with the distribution.
Manu_L 0:773e2a2be16f 21 * 3. Neither the name of STMicroelectronics nor the names of its contributors
Manu_L 0:773e2a2be16f 22 * may be used to endorse or promote products derived from this software
Manu_L 0:773e2a2be16f 23 * without specific prior written permission.
Manu_L 0:773e2a2be16f 24 *
Manu_L 0:773e2a2be16f 25 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
Manu_L 0:773e2a2be16f 26 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
Manu_L 0:773e2a2be16f 27 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
Manu_L 0:773e2a2be16f 28 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
Manu_L 0:773e2a2be16f 29 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
Manu_L 0:773e2a2be16f 30 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
Manu_L 0:773e2a2be16f 31 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
Manu_L 0:773e2a2be16f 32 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
Manu_L 0:773e2a2be16f 33 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
Manu_L 0:773e2a2be16f 34 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
Manu_L 0:773e2a2be16f 35 *
Manu_L 0:773e2a2be16f 36 ******************************************************************************
Manu_L 0:773e2a2be16f 37 */
Manu_L 0:773e2a2be16f 38
Manu_L 0:773e2a2be16f 39 /* Includes ------------------------------------------------------------------*/
Manu_L 0:773e2a2be16f 40
Manu_L 0:773e2a2be16f 41 /* mbed specific header files. */
Manu_L 0:773e2a2be16f 42 #include "mbed.h"
LorenzoCR 7:b0ba8a7b6e9f 43 #include "color.h"
LorenzoCR 7:b0ba8a7b6e9f 44 #include "hcsr04.h"
LorenzoCR 7:b0ba8a7b6e9f 45 #include "BDCMotor.h"
Manu_L 0:773e2a2be16f 46
Manu_L 0:773e2a2be16f 47 /* Component specific header files. */
davide.aliprandi@st.com 5:7517162fb2b9 48 #include "STSpin240_250.h"
LorenzoCR 7:b0ba8a7b6e9f 49 HCSR04 sensor1(D10, D11);
LorenzoCR 7:b0ba8a7b6e9f 50
LorenzoCR 7:b0ba8a7b6e9f 51 ColorSensor color(D4, D5, D6, D7, D8);
Manu_L 0:773e2a2be16f 52
Manu_L 0:773e2a2be16f 53 /* Variables -----------------------------------------------------------------*/
Manu_L 0:773e2a2be16f 54
Manu_L 0:773e2a2be16f 55 /* Initialization parameters of the motor connected to the expansion board. */
Davidroid 6:bd2fa888c101 56 STSpin240_250_init_t init =
Manu_L 0:773e2a2be16f 57 {
Manu_L 0:773e2a2be16f 58 20000, /* Frequency of PWM of Input Bridge A in Hz up to 100000Hz */
Manu_L 0:773e2a2be16f 59 20000, /* Frequency of PWM of Input Bridge B in Hz up to 100000Hz */
Manu_L 0:773e2a2be16f 60 20000, /* Frequency of PWM used for Ref pin in Hz up to 100000Hz */
Manu_L 0:773e2a2be16f 61 50, /* Duty cycle of PWM used for Ref pin (from 0 to 100) */
Manu_L 0:773e2a2be16f 62 TRUE /* Dual Bridge configuration (FALSE for mono, TRUE for dual brush dc) */
Manu_L 0:773e2a2be16f 63 };
Manu_L 0:773e2a2be16f 64
Manu_L 0:773e2a2be16f 65 /* Motor Control Component. */
Davidroid 6:bd2fa888c101 66 STSpin240_250 *motor;
Manu_L 0:773e2a2be16f 67
Manu_L 0:773e2a2be16f 68 /* Functions -----------------------------------------------------------------*/
Manu_L 0:773e2a2be16f 69
Manu_L 0:773e2a2be16f 70 /**
Manu_L 0:773e2a2be16f 71 * @brief This is an example of error handler.
Manu_L 0:773e2a2be16f 72 * @param[in] error Number of the error
Manu_L 0:773e2a2be16f 73 * @retval None
Manu_L 0:773e2a2be16f 74 * @note If needed, implement it, and then attach it:
davide.aliprandi@st.com 5:7517162fb2b9 75 * + motor->attach_error_handler(&my_error_handler);
Manu_L 0:773e2a2be16f 76 */
davide.aliprandi@st.com 5:7517162fb2b9 77 void my_error_handler(uint16_t error)
Manu_L 0:773e2a2be16f 78 {
Manu_L 0:773e2a2be16f 79 /* Printing to the console. */
Manu_L 0:773e2a2be16f 80 printf("Error %d detected\r\n\n", error);
Manu_L 0:773e2a2be16f 81
Manu_L 0:773e2a2be16f 82 /* Infinite loop */
davide.aliprandi@st.com 5:7517162fb2b9 83 while (true) {
Manu_L 0:773e2a2be16f 84 }
Manu_L 0:773e2a2be16f 85 }
Manu_L 0:773e2a2be16f 86
Manu_L 0:773e2a2be16f 87 /**
Manu_L 0:773e2a2be16f 88 * @brief This is an example of user handler for the flag interrupt.
Manu_L 0:773e2a2be16f 89 * @param None
Manu_L 0:773e2a2be16f 90 * @retval None
Manu_L 0:773e2a2be16f 91 * @note If needed, implement it, and then attach and enable it:
davide.aliprandi@st.com 5:7517162fb2b9 92 * + motor->attach_flag_irq(&my_flag_irq_handler);
davide.aliprandi@st.com 5:7517162fb2b9 93 * + motor->enable_flag_irq();
Manu_L 0:773e2a2be16f 94 * To disable it:
Manu_L 0:773e2a2be16f 95 * + motor->DisbleFlagIRQ();
Manu_L 0:773e2a2be16f 96 */
davide.aliprandi@st.com 5:7517162fb2b9 97 void my_flag_irq_handler(void)
Manu_L 0:773e2a2be16f 98 {
Manu_L 0:773e2a2be16f 99 /* Code to be customised */
Manu_L 0:773e2a2be16f 100 /************************/
Manu_L 0:773e2a2be16f 101
Manu_L 0:773e2a2be16f 102 printf(" WARNING: \"FLAG\" interrupt triggered.\r\n");
Manu_L 0:773e2a2be16f 103
Manu_L 0:773e2a2be16f 104 /* Get the state of bridge A */
davide.aliprandi@st.com 5:7517162fb2b9 105 uint16_t bridgeState = motor->get_bridge_status(0);
Manu_L 0:773e2a2be16f 106
davide.aliprandi@st.com 5:7517162fb2b9 107 if (bridgeState == 0) {
davide.aliprandi@st.com 5:7517162fb2b9 108 if (motor->get_device_state(0) != INACTIVE) {
Manu_L 0:773e2a2be16f 109 /* Bridges were disabled due to overcurrent or over temperature */
Manu_L 0:773e2a2be16f 110 /* When motor was running */
davide.aliprandi@st.com 5:7517162fb2b9 111 my_error_handler(0XBAD0);
Manu_L 0:773e2a2be16f 112 }
Manu_L 0:773e2a2be16f 113 }
Manu_L 0:773e2a2be16f 114 }
Manu_L 0:773e2a2be16f 115
Manu_L 0:773e2a2be16f 116 /* Main ----------------------------------------------------------------------*/
Manu_L 0:773e2a2be16f 117
Manu_L 0:773e2a2be16f 118 int main()
Manu_L 0:773e2a2be16f 119 {
Manu_L 0:773e2a2be16f 120
Manu_L 0:773e2a2be16f 121 /* Printing to the console. */
Manu_L 0:773e2a2be16f 122 printf("STARTING MAIN PROGRAM\r\n");
Manu_L 0:773e2a2be16f 123
Manu_L 0:773e2a2be16f 124 //----- Initialization
Manu_L 0:773e2a2be16f 125
Manu_L 0:773e2a2be16f 126 /* Initializing Motor Control Component. */
Manu_L 0:773e2a2be16f 127 #if (defined TARGET_NUCLEO_F030R8)||(defined TARGET_NUCLEO_F334R8)
Davidroid 6:bd2fa888c101 128 motor = new STSpin240_250(D2, D9, D6, D7, D5, D4, A2);
Manu_L 0:773e2a2be16f 129 #elif (defined TARGET_NUCLEO_L152RE)
Davidroid 6:bd2fa888c101 130 motor = new STSpin240_250(D2, D9, D6, D7, D5, D4, A3);
Manu_L 0:773e2a2be16f 131 #else
Davidroid 6:bd2fa888c101 132 motor = new STSpin240_250(D2, D9, D6, D7, D5, D4, A0);
Manu_L 0:773e2a2be16f 133 #endif
davide.aliprandi@st.com 5:7517162fb2b9 134 if (motor->init(&init) != COMPONENT_OK) exit(EXIT_FAILURE);
Manu_L 0:773e2a2be16f 135
Manu_L 0:773e2a2be16f 136 /* Set dual bridge enabled as two motors are used*/
davide.aliprandi@st.com 5:7517162fb2b9 137 motor->set_dual_full_bridge_config(1);
Manu_L 0:773e2a2be16f 138
Manu_L 0:773e2a2be16f 139 /* Attaching and enabling an interrupt handler. */
davide.aliprandi@st.com 5:7517162fb2b9 140 motor->attach_flag_irq(&my_flag_irq_handler);
davide.aliprandi@st.com 5:7517162fb2b9 141 motor->enable_flag_irq();
Manu_L 0:773e2a2be16f 142
Manu_L 0:773e2a2be16f 143 /* Attaching an error handler */
davide.aliprandi@st.com 5:7517162fb2b9 144 motor->attach_error_handler(&my_error_handler);
Manu_L 0:773e2a2be16f 145
Manu_L 0:773e2a2be16f 146 /* Printing to the console. */
Manu_L 0:773e2a2be16f 147 printf("Motor Control Application Example for 2 brush DC motors\r\n");
Manu_L 0:773e2a2be16f 148
Manu_L 0:773e2a2be16f 149 /* Set PWM Frequency of Ref to 15000 Hz */
davide.aliprandi@st.com 5:7517162fb2b9 150 motor->set_ref_pwm_freq(0, 15000);
Manu_L 0:773e2a2be16f 151
Manu_L 0:773e2a2be16f 152 /* Set PWM duty cycle of Ref to 60% */
davide.aliprandi@st.com 5:7517162fb2b9 153 motor->set_ref_pwm_dc(0, 60);
Manu_L 0:773e2a2be16f 154
Manu_L 0:773e2a2be16f 155 /* Set PWM Frequency of bridge A inputs to 10000 Hz */
davide.aliprandi@st.com 5:7517162fb2b9 156 motor->set_bridge_input_pwm_freq(0,10000);
Manu_L 0:773e2a2be16f 157
Manu_L 0:773e2a2be16f 158 /* Set PWM Frequency of bridge B inputs to 10000 Hz */
davide.aliprandi@st.com 5:7517162fb2b9 159 motor->set_bridge_input_pwm_freq(1,10000);
Manu_L 0:773e2a2be16f 160
Manu_L 0:773e2a2be16f 161 /* Infinite Loop. */
Manu_L 0:773e2a2be16f 162 printf("--> Infinite Loop...\r\n");
LorenzoCR 7:b0ba8a7b6e9f 163 bool fase = 1;
davide.aliprandi@st.com 5:7517162fb2b9 164 while (true) {
LorenzoCR 7:b0ba8a7b6e9f 165 motor->run(0, BDCMotor::FWD);
LorenzoCR 7:b0ba8a7b6e9f 166 motor->run(1, BDCMotor::FWD);
LorenzoCR 7:b0ba8a7b6e9f 167 motor->set_speed(1,49);
LorenzoCR 7:b0ba8a7b6e9f 168 motor->set_speed(0,50);
LorenzoCR 7:b0ba8a7b6e9f 169 sensor1.start();
LorenzoCR 7:b0ba8a7b6e9f 170 if (sensor1.get_dist_cm() < 10){
LorenzoCR 7:b0ba8a7b6e9f 171 fase = !fase;
LorenzoCR 7:b0ba8a7b6e9f 172 if (fase == 0){
LorenzoCR 7:b0ba8a7b6e9f 173 wait_ms(2500);
LorenzoCR 7:b0ba8a7b6e9f 174 motor->set_speed(1,15);
LorenzoCR 7:b0ba8a7b6e9f 175 motor->set_speed(0,50);
LorenzoCR 7:b0ba8a7b6e9f 176 wait_ms(500);
LorenzoCR 7:b0ba8a7b6e9f 177 motor->set_speed(1,49);
davide.aliprandi@st.com 5:7517162fb2b9 178 motor->set_speed(0,50);
LorenzoCR 7:b0ba8a7b6e9f 179 }
LorenzoCR 7:b0ba8a7b6e9f 180 else
LorenzoCR 7:b0ba8a7b6e9f 181 {
LorenzoCR 7:b0ba8a7b6e9f 182 wait_ms(2500);
LorenzoCR 7:b0ba8a7b6e9f 183 motor->set_speed(1,50);
LorenzoCR 7:b0ba8a7b6e9f 184 motor->set_speed(0,15);
LorenzoCR 7:b0ba8a7b6e9f 185 wait_ms(500);
LorenzoCR 7:b0ba8a7b6e9f 186 motor->set_speed(1,49);
LorenzoCR 7:b0ba8a7b6e9f 187 motor->set_speed(0,50);
LorenzoCR 7:b0ba8a7b6e9f 188 }
LorenzoCR 7:b0ba8a7b6e9f 189 }
LorenzoCR 7:b0ba8a7b6e9f 190
LorenzoCR 7:b0ba8a7b6e9f 191 if(color.getRed()>100&&color.getGreen()>100)
LorenzoCR 7:b0ba8a7b6e9f 192 {
LorenzoCR 7:b0ba8a7b6e9f 193 //se vede il giallo allora fa questo
LorenzoCR 7:b0ba8a7b6e9f 194 }
LorenzoCR 7:b0ba8a7b6e9f 195 if(color.getRed()>130&&color.getGreen()>130&&color.getBlue()>130){
LorenzoCR 7:b0ba8a7b6e9f 196 //se vede il bianco allora fa questo
LorenzoCR 7:b0ba8a7b6e9f 197 unsigned int motorino=
LorenzoCR 7:b0ba8a7b6e9f 198 }
LorenzoCR 7:b0ba8a7b6e9f 199 if(color.getRed()>110){
LorenzoCR 7:b0ba8a7b6e9f 200 //se vede il rosso
LorenzoCR 7:b0ba8a7b6e9f 201 motor->hard_stop(0);
LorenzoCR 7:b0ba8a7b6e9f 202 motor->hard_stop(1);
LorenzoCR 7:b0ba8a7b6e9f 203 wait(2);
LorenzoCR 7:b0ba8a7b6e9f 204 }
LorenzoCR 7:b0ba8a7b6e9f 205 }
Manu_L 0:773e2a2be16f 206 }
davide.aliprandi@st.com 5:7517162fb2b9 207
LorenzoCR 7:b0ba8a7b6e9f 208 /*********** (C) COPYRIGHT STMicroelectronics ********** END OF FILE **********/