Marieke M / Mbed 2 deprecated frdm_motorConstantesBepalen_bewerkt

Determine motor constants

Dependencies:   HIDScope QEI mbed

Fork of frdm_motorConstantesBepalen by Gerhard Berman

main.cpp@0:8ea04b138f72, 2016-10-28 (annotated)

Committer:
Marieke
Date:
Fri Oct 28 11:04:15 2016 +0000
Revision:
0:8ea04b138f72
Child:
1:b7a1138131bb
Motor_sinus_test

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);
Marieke 0:8ea04b138f72 15 HIDScope scope( 2 );
Marieke 0:8ea04b138f72 16 Ticker sample_timer;
Marieke 0:8ea04b138f72 17
Marieke 0:8ea04b138f72 18 double t;
Marieke 0:8ea04b138f72 19 float pi=3.14159;
Marieke 0:8ea04b138f72 20 float Aout;
Marieke 0:8ea04b138f72 21 int counts1;
Marieke 0:8ea04b138f72 22 int counts2;
Marieke 0:8ea04b138f72 23
Marieke 0:8ea04b138f72 24 void sample()
Marieke 0:8ea04b138f72 25 {
Marieke 0:8ea04b138f72 26 scope.set(0, counts1);
Marieke 0:8ea04b138f72 27 scope.set(1, counts2);
Marieke 0:8ea04b138f72 28
Marieke 0:8ea04b138f72 29 scope.send();
Marieke 0:8ea04b138f72 30 }
Marieke 0:8ea04b138f72 31
Marieke 0:8ea04b138f72 32
Marieke 0:8ea04b138f72 33 int main() {
Marieke 0:8ea04b138f72 34 const double frequency_pwm = 100.0;
Marieke 0:8ea04b138f72 35 pwm_motor1.period(1.0/frequency_pwm);
Marieke 0:8ea04b138f72 36 QEI Encoder1(D12, D13, NC, 32); //maakt de encoder aan, NC niet aanwezig, 32 bits
Marieke 0:8ea04b138f72 37 QEI Encoder2(D10, D11, NC, 32); //maakt de encoder aan, NC niet aanwezig, 32 bits
Marieke 0:8ea04b138f72 38 sample_timer.attach(&sample, 0.0004);
Marieke 0:8ea04b138f72 39
Marieke 0:8ea04b138f72 40 while(true){
Marieke 0:8ea04b138f72 41 for (t=0; t<10; t=t+0.005) {
Marieke 0:8ea04b138f72 42 Aout=1*sin(2*pi*t);
Marieke 0:8ea04b138f72 43 }
Marieke 0:8ea04b138f72 44 motor1= Aout;
Marieke 0:8ea04b138f72 45 pwm_motor1.write(1.0);
Marieke 0:8ea04b138f72 46 counts1 = Encoder1.getPulses();
Marieke 0:8ea04b138f72 47 counts2 = Encoder2.getPulses();
Marieke 0:8ea04b138f72 48 }
Marieke 0:8ea04b138f72 49 }
Marieke 0:8ea04b138f72 50
Marieke 0:8ea04b138f72 51