
SMARTASSES 2019
Revision 7:58648df5be6e, committed 2019-02-19
- Comitter:
- estott
- Date:
- Tue Feb 19 09:25:31 2019 +0000
- Parent:
- 6:8167675195f6
- Child:
- 8:4e435ecb1004
- Commit message:
- Oh dear oh dear
Changed in this revision
main.cpp.orig | Show diff for this revision Revisions of this file |
--- a/main.cpp.orig Tue Feb 19 09:24:16 2019 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,125 +0,0 @@ -#include "mbed.h" - -//Photointerrupter input pins -#define I1pin D6 -#define I2pin D11 -#define I3pin D12 - -//Incremental encoder input pins -#define CHA D4 -#define CHB D5 - -//Motor Drive output pins //Mask in output byte -#define L1Lpin D9 //0x01 -#define L1Hpin D10 //0x02 -#define L2Lpin D1 //0x04 -#define L2Hpin D2 //0x08 -#define L3Lpin D0 //0x10 -#define L3Hpin D3 //0x20 - -//Motor current sense -#define MCSPpin A1 -#define MCSNpin A0 - -//Mapping from sequential drive states to motor phase outputs -/* -State L1 L2 L3 -0 H - L -1 - H L -2 L H - -3 L - H -4 - L H -5 H L - -6 - - - -7 - - - -*/ -//Drive state to output table -const int8_t driveTable[] = {0x12,0x18,0x09,0x21,0x24,0x06,0x00,0x00}; - -//Mapping from interrupter inputs to sequential rotor states. 0x00 and 0x07 are not valid -const int8_t stateMap[] = {0x07,0x05,0x03,0x04,0x01,0x00,0x02,0x07}; -//const int8_t stateMap[] = {0x07,0x01,0x03,0x02,0x05,0x00,0x04,0x07}; //Alternative if phase order of input or drive is reversed - -//Phase lead to make motor spin -const int8_t lead = 2; //2 for forwards, -2 for backwards - -//Status LED -DigitalOut led1(LED1); - -//Photointerrupter inputs -DigitalIn I1(I1pin); -DigitalIn I2(I2pin); -DigitalIn I3(I3pin); - -//Motor Drive outputs -DigitalOut L1L(L1Lpin); -DigitalOut L1H(L1Hpin); -DigitalOut L2L(L2Lpin); -DigitalOut L2H(L2Hpin); -DigitalOut L3L(L3Lpin); -DigitalOut L3H(L3Hpin); - -//Set a given drive state -void motorOut(int8_t driveState){ - - //Lookup the output byte from the drive state. - int8_t driveOut = driveTable[driveState & 0x07]; - - //Turn off first - if (~driveOut & 0x01) L1L = 0; - if (~driveOut & 0x02) L1H = 1; - if (~driveOut & 0x04) L2L = 0; - if (~driveOut & 0x08) L2H = 1; - if (~driveOut & 0x10) L3L = 0; - if (~driveOut & 0x20) L3H = 1; - - //Then turn on - if (driveOut & 0x01) L1L = 1; - if (driveOut & 0x02) L1H = 0; - if (driveOut & 0x04) L2L = 1; - if (driveOut & 0x08) L2H = 0; - if (driveOut & 0x10) L3L = 1; - if (driveOut & 0x20) L3H = 0; - } - - //Convert photointerrupter inputs to a rotor state -inline int8_t readRotorState(){ - return stateMap[I1 + 2*I2 + 4*I3]; - } - -//Basic synchronisation routine -int8_t motorHome() { - //Put the motor in drive state 0 and wait for it to stabilise - motorOut(0); - wait(2.0); - - //Get the rotor state - return readRotorState(); -} - -//Main -int main() { - int8_t orState = 0; //Rotot offset at motor state 0 - int8_t intState = 0; - int8_t intStateOld = 0; - - //Initialise the serial port - Serial pc(SERIAL_TX, SERIAL_RX); - pc.printf("Hello\n\r"); - - //Run the motor synchronisation - orState = motorHome(); - pc.printf("Rotor origin: %x\n\r",orState); - //orState is subtracted from future rotor state inputs to align rotor and motor states - - //Poll the rotor state and set the motor outputs accordingly to spin the motor - while (1) { - intState = readRotorState(); - if (intState != intStateOld) { - intStateOld = intState; - motorOut((intState-orState+lead+6)%6); //+6 to make sure the remainder is positive - //pc.printf("%d\n\r",intState); - } - } -} -