Matthew Gasper / Mbed 2 deprecated BTR_MotorControll

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Dependencies:   mbed

main.cpp@0:fb7201282a86, 2021-03-21 (annotated)

Committer:
P3nguin18
Date:
Sun Mar 21 19:54:07 2021 +0000
Revision:
0:fb7201282a86
Motor Stuff;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
P3nguin18 0:fb7201282a86 1 #include "mbed.h"
P3nguin18 0:fb7201282a86 2 #include <Motor.h>
P3nguin18 0:fb7201282a86 3
P3nguin18 0:fb7201282a86 4 Motor motor0(p5,p6,p7);
P3nguin18 0:fb7201282a86 5 Motor motor1(p8,p11,p12);
P3nguin18 0:fb7201282a86 6 Motor motor2(p13,p14,p15); //pull,drive,enable
P3nguin18 0:fb7201282a86 7 Motor motor3(p16,p17,p18);
P3nguin18 0:fb7201282a86 8 Motor motor4(p21,p22,p23);
P3nguin18 0:fb7201282a86 9 Motor motor5(p24,p25,p26);
P3nguin18 0:fb7201282a86 10
P3nguin18 0:fb7201282a86 11 const int HIGH = 1;
P3nguin18 0:fb7201282a86 12 const int LOW = 0;
P3nguin18 0:fb7201282a86 13
P3nguin18 0:fb7201282a86 14 //@@@@@@@@@@@@@@@__CONTROL__@@@@@@@@@@@@@@@@@@@
P3nguin18 0:fb7201282a86 15 const int PPR = 400; //Pulses Per Revolution
P3nguin18 0:fb7201282a86 16 int ROTATION = 36000; //3600 full rotation
P3nguin18 0:fb7201282a86 17 int RPM = 10; //Rotations Per Minute
P3nguin18 0:fb7201282a86 18 int MOVEMENT = 0; //Movement Type |0=F ,1=B ,2=R ,3=L|
P3nguin18 0:fb7201282a86 19 int NUMSTEPS = 10; //Number of Steps
P3nguin18 0:fb7201282a86 20 //@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@
P3nguin18 0:fb7201282a86 21
P3nguin18 0:fb7201282a86 22 int pulseLength = 0;
P3nguin18 0:fb7201282a86 23
P3nguin18 0:fb7201282a86 24 //Converts desired RPM to required Pulse Length (In Microseconds)
P3nguin18 0:fb7201282a86 25 void Configure_Pulse(float rpm){
P3nguin18 0:fb7201282a86 26 float holder = 0; //Create holder variable (MBED is Stupid)
P3nguin18 0:fb7201282a86 27
P3nguin18 0:fb7201282a86 28 holder = rpm; //Set to RPM
P3nguin18 0:fb7201282a86 29 holder = holder/60; //Brain.exe is no longer responding ;(
P3nguin18 0:fb7201282a86 30 holder = holder*PPR; //Multiply by PPR
P3nguin18 0:fb7201282a86 31 holder = holder/2; //Brain.exe is no longer responding ;(
P3nguin18 0:fb7201282a86 32 holder = 1/holder; //Convert to Seconds
P3nguin18 0:fb7201282a86 33 holder = holder*1000000; //Convert to Microseconds
P3nguin18 0:fb7201282a86 34 holder = holder/60; //Dividing by Gear Ratio
P3nguin18 0:fb7201282a86 35 holder = holder/4; //Math Magic
P3nguin18 0:fb7201282a86 36
P3nguin18 0:fb7201282a86 37 pulseLength = holder;
P3nguin18 0:fb7201282a86 38 }
P3nguin18 0:fb7201282a86 39
P3nguin18 0:fb7201282a86 40 //Sets Drive Pins to Movement Configuration
P3nguin18 0:fb7201282a86 41 void Configure_Movement(int input){
P3nguin18 0:fb7201282a86 42 switch(input){
P3nguin18 0:fb7201282a86 43 //Move Forward
P3nguin18 0:fb7201282a86 44 case 0: motor0.dir = HIGH;
P3nguin18 0:fb7201282a86 45 motor1.dir = HIGH;
P3nguin18 0:fb7201282a86 46 motor2.dir = HIGH;
P3nguin18 0:fb7201282a86 47 motor3.dir = HIGH;
P3nguin18 0:fb7201282a86 48 motor4.dir = HIGH;
P3nguin18 0:fb7201282a86 49 motor5.dir = HIGH;
P3nguin18 0:fb7201282a86 50 break;
P3nguin18 0:fb7201282a86 51 //Move Backward
P3nguin18 0:fb7201282a86 52 case 1: motor0.dir = LOW;
P3nguin18 0:fb7201282a86 53 motor1.dir = LOW;
P3nguin18 0:fb7201282a86 54 motor2.dir = LOW;
P3nguin18 0:fb7201282a86 55 motor3.dir = LOW;
P3nguin18 0:fb7201282a86 56 motor4.dir = LOW;
P3nguin18 0:fb7201282a86 57 motor5.dir = LOW;
P3nguin18 0:fb7201282a86 58 break;
P3nguin18 0:fb7201282a86 59 //Turn Right
P3nguin18 0:fb7201282a86 60 case 2: motor0.dir = HIGH;
P3nguin18 0:fb7201282a86 61 motor1.dir = HIGH;
P3nguin18 0:fb7201282a86 62 motor2.dir = HIGH;
P3nguin18 0:fb7201282a86 63 motor3.dir = LOW;
P3nguin18 0:fb7201282a86 64 motor4.dir = LOW;
P3nguin18 0:fb7201282a86 65 motor5.dir = LOW;
P3nguin18 0:fb7201282a86 66 break;
P3nguin18 0:fb7201282a86 67 //Turn Left
P3nguin18 0:fb7201282a86 68 case 3: motor0.dir = LOW;
P3nguin18 0:fb7201282a86 69 motor1.dir = LOW;
P3nguin18 0:fb7201282a86 70 motor2.dir = LOW;
P3nguin18 0:fb7201282a86 71 motor3.dir = HIGH;
P3nguin18 0:fb7201282a86 72 motor4.dir = HIGH;
P3nguin18 0:fb7201282a86 73 motor5.dir = HIGH;
P3nguin18 0:fb7201282a86 74 break;
P3nguin18 0:fb7201282a86 75 }
P3nguin18 0:fb7201282a86 76 }
P3nguin18 0:fb7201282a86 77
P3nguin18 0:fb7201282a86 78 int main() {
P3nguin18 0:fb7201282a86 79 Configure_Movement(MOVEMENT);
P3nguin18 0:fb7201282a86 80 Configure_Pulse(RPM);
P3nguin18 0:fb7201282a86 81
P3nguin18 0:fb7201282a86 82 bool altSet = false; //
P3nguin18 0:fb7201282a86 83 int inv0 = 0, inv1 = 0; //Creates inverter variables for pulse controll
P3nguin18 0:fb7201282a86 84
P3nguin18 0:fb7201282a86 85 //Loop for Number of Steps Made
P3nguin18 0:fb7201282a86 86 for(int i=0; i<NUMSTEPS; i++){
P3nguin18 0:fb7201282a86 87 if(altSet == false){
P3nguin18 0:fb7201282a86 88 //Pulses for total desired Rotation for set0
P3nguin18 0:fb7201282a86 89 for(int j=0; j<ROTATION; j++){
P3nguin18 0:fb7201282a86 90 inv0 =~ inv0; //Inverts Value
P3nguin18 0:fb7201282a86 91 motor0.pul = inv0;
P3nguin18 0:fb7201282a86 92 motor2.pul = inv0;
P3nguin18 0:fb7201282a86 93 motor4.pul = inv0;
P3nguin18 0:fb7201282a86 94
P3nguin18 0:fb7201282a86 95 //Pulses set1 every 3 pulses of set0
P3nguin18 0:fb7201282a86 96 if(j%3 == 0){
P3nguin18 0:fb7201282a86 97 inv1 =~ inv1; //Inverts Value
P3nguin18 0:fb7201282a86 98 motor1.pul = inv1;
P3nguin18 0:fb7201282a86 99 motor3.pul = inv1;
P3nguin18 0:fb7201282a86 100 motor5.pul = inv1;
P3nguin18 0:fb7201282a86 101 }
P3nguin18 0:fb7201282a86 102 wait_us(pulseLength);
P3nguin18 0:fb7201282a86 103 }
P3nguin18 0:fb7201282a86 104 altSet = true;
P3nguin18 0:fb7201282a86 105 }else if(altSet == true){
P3nguin18 0:fb7201282a86 106 //Pulses for total desired Rotation for set1
P3nguin18 0:fb7201282a86 107 for(int j=0; j<ROTATION; j++){
P3nguin18 0:fb7201282a86 108 inv1 =~ inv1; //Inverts Value
P3nguin18 0:fb7201282a86 109 motor1.pul = inv1;
P3nguin18 0:fb7201282a86 110 motor3.pul = inv1;
P3nguin18 0:fb7201282a86 111 motor5.pul = inv1;
P3nguin18 0:fb7201282a86 112
P3nguin18 0:fb7201282a86 113 //Pulses set0 every 3 pulses of set1
P3nguin18 0:fb7201282a86 114 if(j%3 == 0){
P3nguin18 0:fb7201282a86 115 inv0 =~ inv0; //Inverts Value
P3nguin18 0:fb7201282a86 116 motor0.pul = inv0;
P3nguin18 0:fb7201282a86 117 motor2.pul = inv0;
P3nguin18 0:fb7201282a86 118 motor4.pul = inv0;
P3nguin18 0:fb7201282a86 119 }
P3nguin18 0:fb7201282a86 120 wait_us(pulseLength);
P3nguin18 0:fb7201282a86 121 }
P3nguin18 0:fb7201282a86 122 altSet = false;
P3nguin18 0:fb7201282a86 123 }
P3nguin18 0:fb7201282a86 124 }
P3nguin18 0:fb7201282a86 125 }