
SMARTASSES 2019
Revision 6:8167675195f6, committed 2019-02-19
- Comitter:
- estott
- Date:
- Tue Feb 19 09:24:16 2019 +0000
- Parent:
- 5:08f338b5e4d9
- Child:
- 7:58648df5be6e
- Commit message:
- Oh dear
Changed in this revision
main.cpp.orig | Show annotated file Show diff for this revision Revisions of this file |
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main.cpp.orig Tue Feb 19 09:24:16 2019 +0000 @@ -0,0 +1,125 @@ +#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); + } + } +} +