Marieke M / Mbed 2 deprecated frdm_motorConstantesBepalen_bewerkt

Determine motor constants

Dependencies:   HIDScope QEI mbed

Fork of frdm_motorConstantesBepalen by Gerhard Berman

main.cpp@2:78a4dccff486, 2016-11-01 (annotated)

Committer:
Marieke
Date:
Tue Nov 01 16:24:38 2016 +0000
Revision:
2:78a4dccff486
Parent:
1:b7a1138131bb 
Script to determine motor constants

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Marieke 0:8ea04b138f72 1 #include "mbed.h"
Marieke 0:8ea04b138f72 2 #include "QEI.h"
Marieke 0:8ea04b138f72 3 #include "HIDScope.h"
Marieke 0:8ea04b138f72 4
Marieke 0:8ea04b138f72 5 // Definiëren van alle poorten
Marieke 0:8ea04b138f72 6
Marieke 0:8ea04b138f72 7 DigitalIn encoder1A (D13); //Channel A van Encoder 1
Marieke 0:8ea04b138f72 8 DigitalIn encoder1B (D12); //Channel B van Encoder 1
Marieke 0:8ea04b138f72 9 DigitalIn encoder2A (D11); //Channel A van Encoder 2, kan niet op D15
Marieke 0:8ea04b138f72 10 DigitalIn encoder2B (D10); //Channel B van Encoder 2, kan niet op D14
Marieke 0:8ea04b138f72 11 DigitalOut motor1 (D7);
Marieke 0:8ea04b138f72 12 PwmOut pwm_motor1 (D6);
Marieke 0:8ea04b138f72 13 DigitalOut motor2 (D4);
Marieke 0:8ea04b138f72 14 PwmOut pwm_motor2 (D5);
GerhardBerman 1:b7a1138131bb 15 HIDScope scope( 4 );
Marieke 2:78a4dccff486 16 Ticker sample_timer, snelheid_ticker;
Marieke 0:8ea04b138f72 17
Marieke 0:8ea04b138f72 18 double t;
Marieke 2:78a4dccff486 19 double pi=3.14159;
Marieke 2:78a4dccff486 20 double Aout;
Marieke 2:78a4dccff486 21 double PWMAout;
Marieke 2:78a4dccff486 22 //float v_1;
Marieke 2:78a4dccff486 23 int counts1_old;
Marieke 0:8ea04b138f72 24 int counts1;
Marieke 0:8ea04b138f72 25 int counts2;
GerhardBerman 1:b7a1138131bb 26 const int cw=0;
GerhardBerman 1:b7a1138131bb 27 const int ccw=1;
GerhardBerman 1:b7a1138131bb 28
Marieke 0:8ea04b138f72 29 void sample()
Marieke 0:8ea04b138f72 30 {
Marieke 2:78a4dccff486 31 //v_1 = (float) ((counts1 - counts1_old)/0.02);
Marieke 2:78a4dccff486 32 //counts1_old=counts1;
Marieke 0:8ea04b138f72 33 scope.set(0, counts1);
Marieke 0:8ea04b138f72 34 scope.set(1, counts2);
GerhardBerman 1:b7a1138131bb 35 scope.set(2, Aout);
GerhardBerman 1:b7a1138131bb 36 scope.set(3, PWMAout);
Marieke 2:78a4dccff486 37 //scope.set(3, PWMAout);
Marieke 0:8ea04b138f72 38 scope.send();
Marieke 0:8ea04b138f72 39 }
Marieke 0:8ea04b138f72 40
Marieke 0:8ea04b138f72 41
Marieke 2:78a4dccff486 42 /*void snelheid()
Marieke 2:78a4dccff486 43 {
Marieke 2:78a4dccff486 44 //counts1 = Encoder1.getPulses();
Marieke 2:78a4dccff486 45 v_1 = (float) ((counts1 - counts1_old)/0.01);
Marieke 2:78a4dccff486 46 counts1_old=counts1;
Marieke 2:78a4dccff486 47 //counts2 = Encoder2.getPulses();
Marieke 2:78a4dccff486 48
Marieke 2:78a4dccff486 49 scope.set(2, v_1);
Marieke 2:78a4dccff486 50 scope.send();
Marieke 2:78a4dccff486 51 }*/
Marieke 2:78a4dccff486 52
Marieke 2:78a4dccff486 53
Marieke 0:8ea04b138f72 54 int main() {
Marieke 2:78a4dccff486 55 const double frequency_pwm = 0.5;
Marieke 0:8ea04b138f72 56 pwm_motor1.period(1.0/frequency_pwm);
GerhardBerman 1:b7a1138131bb 57 pwm_motor2.period(1.0/frequency_pwm);
Marieke 0:8ea04b138f72 58 QEI Encoder1(D12, D13, NC, 32); //maakt de encoder aan, NC niet aanwezig, 32 bits
Marieke 0:8ea04b138f72 59 QEI Encoder2(D10, D11, NC, 32); //maakt de encoder aan, NC niet aanwezig, 32 bits
GerhardBerman 1:b7a1138131bb 60 sample_timer.attach(&sample, 0.001);
Marieke 2:78a4dccff486 61 //snelheid_ticker.attach(&snelheid, 0.01f);
Marieke 2:78a4dccff486 62
Marieke 0:8ea04b138f72 63
Marieke 0:8ea04b138f72 64 while(true){
Marieke 2:78a4dccff486 65 for (t=0; t<2000; t=t+0.1) {
Marieke 2:78a4dccff486 66 Aout= (double) 1*sin(0.001*pi*t);
Marieke 2:78a4dccff486 67 PWMAout=fabs((Aout+1)/2);
GerhardBerman 1:b7a1138131bb 68 if (Aout >=0) //clockwise rotation
Marieke 2:78a4dccff486 69 {motor1.write(cw); //?
GerhardBerman 1:b7a1138131bb 70 }
Marieke 2:78a4dccff486 71 else //counterclockwise rotation
Marieke 2:78a4dccff486 72 {motor1.write(ccw);
Marieke 0:8ea04b138f72 73 }
Marieke 2:78a4dccff486 74 pwm_motor1.write(PWMAout);
GerhardBerman 1:b7a1138131bb 75
Marieke 2:78a4dccff486 76 if (Aout >=0) //clockwise rotation
Marieke 2:78a4dccff486 77 {motor2.write(ccw);
GerhardBerman 1:b7a1138131bb 78 }
Marieke 2:78a4dccff486 79 else //counterclockwise rotation
Marieke 2:78a4dccff486 80 {motor2.write(cw);
GerhardBerman 1:b7a1138131bb 81 }
Marieke 2:78a4dccff486 82 pwm_motor2.write(PWMAout);
GerhardBerman 1:b7a1138131bb 83
Marieke 2:78a4dccff486 84
Marieke 2:78a4dccff486 85
Marieke 2:78a4dccff486 86 //while(true){
Marieke 2:78a4dccff486 87
Marieke 2:78a4dccff486 88 /*motor1 = cw; //clockwise
Marieke 2:78a4dccff486 89 pwm_motor1.write(0.5);
Marieke 2:78a4dccff486 90 motor2 = ccw;
Marieke 2:78a4dccff486 91 pwm_motor2.write(0.5);*/
Marieke 2:78a4dccff486 92 counts1 = Encoder1.getPulses();
Marieke 2:78a4dccff486 93 counts2 = Encoder2.getPulses();
Marieke 2:78a4dccff486 94 }
Marieke 0:8ea04b138f72 95 }
Marieke 0:8ea04b138f72 96 }
Marieke 0:8ea04b138f72 97
Marieke 2:78a4dccff486 98
Marieke 2:78a4dccff486 99