Michael Walker
Demonstration of RPCVariables to implement closed loop control in LabVIEW of a motor using a QEI for feedback
main.cpp@2:439a3a118526, 2010-09-21 (annotated)
- Committer:
- MichaelW
- Date:
- Tue Sep 21 16:00:43 2010 +0000
- Revision:
- 2:439a3a118526
- Parent:
- 0:839ba4bb1be1
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| MichaelW | 2:439a3a118526 | 1 | /** |
| MichaelW | 2:439a3a118526 | 2 | * Copyright (c)2010 ARM Ltd. |
| MichaelW | 2:439a3a118526 | 3 | * Released under the MIT License: http://mbed.org/license/mit |
| MichaelW | 2:439a3a118526 | 4 | */ |
| MichaelW | 2:439a3a118526 | 5 | |
| MichaelW | 0:839ba4bb1be1 | 6 | #include "mbed.h" |
| MichaelW | 0:839ba4bb1be1 | 7 | #include "QEI.h" |
| MichaelW | 0:839ba4bb1be1 | 8 | #include "Motor.h" |
| MichaelW | 0:839ba4bb1be1 | 9 | #include "SerialRPCInterface.h" |
| MichaelW | 0:839ba4bb1be1 | 10 | |
| MichaelW | 0:839ba4bb1be1 | 11 | //Create the interface on the USB Serial Port |
| MichaelW | 0:839ba4bb1be1 | 12 | SerialRPCInterface SerialInterface(USBTX, USBRX); |
| MichaelW | 0:839ba4bb1be1 | 13 | |
| MichaelW | 0:839ba4bb1be1 | 14 | QEI Encoder(p29 ,p30, NC, 48); |
| MichaelW | 0:839ba4bb1be1 | 15 | Motor Wheel(p23, p21, p22); |
| MichaelW | 0:839ba4bb1be1 | 16 | |
| MichaelW | 0:839ba4bb1be1 | 17 | //Create float variables |
| MichaelW | 0:839ba4bb1be1 | 18 | float MotorOutput = 50; |
| MichaelW | 0:839ba4bb1be1 | 19 | float Percentage = 0; |
| MichaelW | 0:839ba4bb1be1 | 20 | |
| MichaelW | 0:839ba4bb1be1 | 21 | //Make these variables accessible over RPC by attaching them to an RPCVariable |
| MichaelW | 0:839ba4bb1be1 | 22 | RPCVariable<float> RPCMotorOut(&MotorOutput, "MotorOutput"); |
| MichaelW | 0:839ba4bb1be1 | 23 | RPCVariable<float> RPCPercentage(&Percentage, "Percentage"); |
| MichaelW | 0:839ba4bb1be1 | 24 | |
| MichaelW | 0:839ba4bb1be1 | 25 | int main(){ |
| MichaelW | 0:839ba4bb1be1 | 26 | |
| MichaelW | 0:839ba4bb1be1 | 27 | Encoder.reset(); |
| MichaelW | 0:839ba4bb1be1 | 28 | float NoPulses; |
| MichaelW | 0:839ba4bb1be1 | 29 | |
| MichaelW | 0:839ba4bb1be1 | 30 | while(1){ |
| MichaelW | 2:439a3a118526 | 31 | NoPulses = Encoder.getPulses(); |
| MichaelW | 0:839ba4bb1be1 | 32 | Percentage = ((NoPulses / 48) * 100); |
| MichaelW | 2:439a3a118526 | 33 | //RPC will be used to set the value of MotorOutput. |
| MichaelW | 0:839ba4bb1be1 | 34 | Wheel.speed((MotorOutput - 50) * 2 / 100); |
| MichaelW | 0:839ba4bb1be1 | 35 | wait(0.005); |
| MichaelW | 0:839ba4bb1be1 | 36 | } |
| MichaelW | 0:839ba4bb1be1 | 37 | } |