Marie-Laure Snijders / Mbed 2 deprecated Programming_Milestone_1

Programming Milestone Group 7 BMT M9

Dependencies:   FastPWM MODSERIAL mbed

main.cpp@1:67b19c59b8c9, 2018-09-25 (annotated)

Committer:
MAHCSnijders
Date:
Tue Sep 25 12:41:08 2018 +0000
Revision:
1:67b19c59b8c9
Parent:
0:1e216b50d323
Child:
2:6d3f3d1bcef7
Milestone 1 gehaald: motor draait, podmeter werkt alleen nog niet (voltage aanpassen). Alleen met motor 1 uitgeprobeerd.; Aansluitingen motor shield:; - Stroom motor; - Motor 1; - Analog0 met POT1; - Analog1 met POT2

Who changed what in which revision?

UserRevisionLine numberNew contents of line
MAHCSnijders 0:1e216b50d323 1 #include "mbed.h"
MAHCSnijders 1:67b19c59b8c9 2 #include "FastPWM.h"
MAHCSnijders 1:67b19c59b8c9 3 #include "MODSERIAL.h"
MAHCSnijders 1:67b19c59b8c9 4
MAHCSnijders 1:67b19c59b8c9 5 Ticker motor; // ticker function
MAHCSnijders 1:67b19c59b8c9 6 FastPWM pwmpin(D5); // SPECIFIC PIN (hoeft niet aangesloten te worden) Tells you how fast the motor has to go (later: pwmpin.write will tell you the duty cycle, aka how much voltage the motor gets)
MAHCSnijders 1:67b19c59b8c9 7 DigitalOut directionpin1(D4); // SPECIFIC PIN (hoeft niet aangesloten te worden) Direction value (0-1) that the mbed will give the motor: in which direction the motor must rotate
MAHCSnijders 1:67b19c59b8c9 8 DigitalOut directionpin2(D7); // SPECIFIC PIN (hoeft niet aangesloten te worden) Direction value (0-1) that the mbed will give the motor: in which direction the motor must rotate
MAHCSnijders 1:67b19c59b8c9 9 AnalogIn potmeter1(A0); // Analoge input van potmeter 1
MAHCSnijders 1:67b19c59b8c9 10 AnalogIn potmeter2(A1); // Analoge input van potmeter 2
MAHCSnijders 0:1e216b50d323 11
MAHCSnijders 1:67b19c59b8c9 12 void motorfunction()
MAHCSnijders 1:67b19c59b8c9 13 { float pot1 = potmeter1.read(); // Reads out value potmeter 1 between 0-1
MAHCSnijders 1:67b19c59b8c9 14 float pot1_scale = pot1*2 -1; // Scales value potmeter from 0-1 to -1 - 1.
MAHCSnijders 1:67b19c59b8c9 15 float pot2 = potmeter2.read();
MAHCSnijders 1:67b19c59b8c9 16 float pot2_scale = pot2*2 -1; // Scales value potmeter from 0-1 to -1 - 1.
MAHCSnijders 1:67b19c59b8c9 17 float u1 = pot1_scale; // motor control signal
MAHCSnijders 1:67b19c59b8c9 18 float u2 = pot2_scale; // motor control signal
MAHCSnijders 1:67b19c59b8c9 19 directionpin1 = u1 > 0.0f; //either true or false, determines direction (0 or 1)
MAHCSnijders 1:67b19c59b8c9 20 directionpin2 = u2 > 0.0f; //either true or false
MAHCSnijders 1:67b19c59b8c9 21 pwmpin = fabs(u1); //pwm duty cycle can only be positive, floating point absolute value (if value is >0, the there still will be a positive value).
MAHCSnijders 1:67b19c59b8c9 22 }
MAHCSnijders 0:1e216b50d323 23
MAHCSnijders 0:1e216b50d323 24 int main()
MAHCSnijders 0:1e216b50d323 25 {
MAHCSnijders 1:67b19c59b8c9 26 pwmpin.period_us(60.0); //60 microseconds PWM period, 16.7 kHz
MAHCSnijders 1:67b19c59b8c9 27 motor.attach(motorfunction,0.3);
MAHCSnijders 1:67b19c59b8c9 28 while(true){} //Lege while loop zodat functie niet afloopt
MAHCSnijders 0:1e216b50d323 29 }