Marie-Laure Snijders / Mbed 2 deprecated Programming_Milestone_1

Programming Milestone Group 7 BMT M9

Dependencies:   FastPWM MODSERIAL mbed

main.cpp@6:b5fc5007f228, 2018-09-26 (annotated)

Committer:
MAHCSnijders
Date:
Wed Sep 26 17:05:33 2018 +0000
Revision:
6:b5fc5007f228
Parent:
5:92360cb2e0e4 
FINAL VERSION; Aansluitingen:; Motor 1 aansluiten op M1; Motor 2 aansluiten op M2; Stroomkabels; POT1 naar A2; POT2 naar A4

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 4:a4cd6f9c851d 5 Ticker motor; // Ticker function
MAHCSnijders 2:6d3f3d1bcef7 6 FastPWM pwmpin1(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 2:6d3f3d1bcef7 7 FastPWM pwmpin2(D6); // 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 8 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 9 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 6:b5fc5007f228 10 AnalogIn potmeter1(A4); // Analoge input van potmeter 1 -> Motor 1
MAHCSnijders 6:b5fc5007f228 11 AnalogIn potmeter2(A2); // Analoge input van potmeter 2 -> Motor 2
MAHCSnijders 0:1e216b50d323 12
MAHCSnijders 2:6d3f3d1bcef7 13 volatile float pot1;
MAHCSnijders 2:6d3f3d1bcef7 14 volatile float pot2;
MAHCSnijders 2:6d3f3d1bcef7 15 volatile float pot1_scale;
MAHCSnijders 2:6d3f3d1bcef7 16 volatile float pot2_scale;
MAHCSnijders 2:6d3f3d1bcef7 17 volatile float u1;
MAHCSnijders 2:6d3f3d1bcef7 18 volatile float u2;
MAHCSnijders 2:6d3f3d1bcef7 19
MAHCSnijders 1:67b19c59b8c9 20 void motorfunction()
MAHCSnijders 4:a4cd6f9c851d 21 { pot1 = potmeter1.read(); // reads out value potmeter 1 between 0-1
MAHCSnijders 4:a4cd6f9c851d 22 pot1_scale = pot1*2 -1; // scales value potmeter from 0-1 to -1 - 1.
MAHCSnijders 4:a4cd6f9c851d 23 pot2 = potmeter2.read(); // reads out value potmeter 2 between 0-1
MAHCSnijders 4:a4cd6f9c851d 24 pot2_scale = pot2*2 -1; // scales value potmeter from 0-1 to -1 - 1.
MAHCSnijders 2:6d3f3d1bcef7 25 u1 = pot1_scale; // motor control signal
MAHCSnijders 2:6d3f3d1bcef7 26 u2 = pot2_scale; // motor control signal
MAHCSnijders 4:a4cd6f9c851d 27 directionpin1 = u1 > 0.0f; // either true or false, determines direction (0 or 1)
MAHCSnijders 4:a4cd6f9c851d 28 directionpin2 = u2 > 0.0f; // either true or false
MAHCSnijders 4:a4cd6f9c851d 29 pwmpin1 = 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 4:a4cd6f9c851d 30 pwmpin2 = fabs(u2); // 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 31 }
MAHCSnijders 0:1e216b50d323 32
MAHCSnijders 0:1e216b50d323 33 int main()
MAHCSnijders 0:1e216b50d323 34 {
MAHCSnijders 2:6d3f3d1bcef7 35 pwmpin1.period_us(60.0); //60 microseconds PWM period, 16.7 kHz, defines all PWM pins (only needs to be done once)
MAHCSnijders 2:6d3f3d1bcef7 36 motor.attach(motorfunction,0.5);
MAHCSnijders 4:a4cd6f9c851d 37 while(true){} //Lege while loop zodat functie niet afloopt
MAHCSnijders 0:1e216b50d323 38 }