Ramon Waninge / Mbed 2 deprecated Milestone1

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   FastPWM mbed QEI biquadFilter HIDScope MODSERIAL

main.cpp@20:695140b8db2f, 2018-10-22 (annotated)

Committer:
efvanmarrewijk
Date:
Mon Oct 22 14:29:37 2018 +0000
Revision:
20:695140b8db2f
Parent:
19:1d0b25d4d775
Parent:
18:ca084c362855
Child:
21:363271dcfe1f
Partially merged version

Who changed what in which revision?

UserRevisionLine numberNew contents of line
efvanmarrewijk 16:720365110953 1 // Inclusion of libraries
Ramonwaninge 0:3ea1bbfbeaae 2 #include "mbed.h"
efvanmarrewijk 11:3efd6a324f16 3 #include "FastPWM.h"
efvanmarrewijk 11:3efd6a324f16 4 #include "QEI.h" // Includes library for encoder
efvanmarrewijk 13:6556cd086d07 5 #include "MODSERIAL.h"
efvanmarrewijk 13:6556cd086d07 6 #include "HIDScope.h"
efvanmarrewijk 13:6556cd086d07 7 #include "BiQuad.h"
Ramonwaninge 0:3ea1bbfbeaae 8
efvanmarrewijk 14:e21cb701ccb8 9 // Input
efvanmarrewijk 9:65c52c1f4a57 10
efvanmarrewijk 14:e21cb701ccb8 11 // Output
Ramonwaninge 2:d8a552d1d33a 12
Ramonwaninge 2:d8a552d1d33a 13
efvanmarrewijk 16:720365110953 14 // Utilisation of libraries
efvanmarrewijk 16:720365110953 15 MODSERIAL pc(USBTX, USBRX);
efvanmarrewijk 18:ca084c362855 16 QEI Encoder1(D11,D10,NC,4200); // Counterclockwise motor rotation is the positive direction
efvanmarrewijk 18:ca084c362855 17 QEI Encoder2(D9,D8,NC,4200); // Counterclockwise motor rotation is the positive direction
efvanmarrewijk 18:ca084c362855 18 QEI Encoder3(D13,D12,NC,4200); // Counterclockwise motor rotation is the positive direction
efvanmarrewijk 20:695140b8db2f 19 Ticker motor;
efvanmarrewijk 9:65c52c1f4a57 20
efvanmarrewijk 16:720365110953 21 // Global variables
efvanmarrewijk 18:ca084c362855 22 const float pi = 3.14159265358979;
efvanmarrewijk 11:3efd6a324f16 23 float u3 = 0.0; // Normalised variable for the movement of motor 3
efvanmarrewijk 16:720365110953 24
efvanmarrewijk 16:720365110953 25 // Functions
efvanmarrewijk 18:ca084c362855 26 void Encoderinput()
efvanmarrewijk 18:ca084c362855 27 { int counts1;
efvanmarrewijk 18:ca084c362855 28 int counts2;
efvanmarrewijk 18:ca084c362855 29 int counts3;
efvanmarrewijk 18:ca084c362855 30 float angle1;
efvanmarrewijk 18:ca084c362855 31 float angle2;
efvanmarrewijk 18:ca084c362855 32 float angle3;
efvanmarrewijk 18:ca084c362855 33 counts1 = Encoder1.getPulses();
efvanmarrewijk 18:ca084c362855 34 counts2 = Encoder2.getPulses();
efvanmarrewijk 18:ca084c362855 35 counts3 = Encoder3.getPulses();
efvanmarrewijk 18:ca084c362855 36 angle1 = ((float)counts1*2.0*pi)/4200.0;
efvanmarrewijk 18:ca084c362855 37 angle2 = ((float)counts2*2.0*pi)/4200.0;
efvanmarrewijk 18:ca084c362855 38 angle3 = ((float)counts3*2.0*pi)/4200.0;
efvanmarrewijk 18:ca084c362855 39
efvanmarrewijk 18:ca084c362855 40 pc.printf("Counts1: %i Angle1: %f Counts2: %i Angle2: %f\r\n",counts1,angle1,counts2,angle2);
efvanmarrewijk 18:ca084c362855 41 }
efvanmarrewijk 16:720365110953 42
efvanmarrewijk 11:3efd6a324f16 43 void draaibuttons()
efvanmarrewijk 11:3efd6a324f16 44 { /* Pressing button 2 concludes in a change of speed. While button 1 is pressed,
efvanmarrewijk 11:3efd6a324f16 45 the direction of change of speed is reversed. So pressing button 1 and 2
efvanmarrewijk 11:3efd6a324f16 46 simultaneously results for the turning speed of motor 3 in a slower movement,
efvanmarrewijk 11:3efd6a324f16 47 and eventually the motor will turn the other way around.
efvanmarrewijk 11:3efd6a324f16 48 */
efvanmarrewijk 14:e21cb701ccb8 49 if (button1 == 1 && button2 == 1)
efvanmarrewijk 14:e21cb701ccb8 50 { u3 = u3 + 0.1f; //In stapjes van 0.1
efvanmarrewijk 13:6556cd086d07 51 if (u3>1.0f)
efvanmarrewijk 13:6556cd086d07 52 { u3 = 1.0f;
efvanmarrewijk 11:3efd6a324f16 53 }
efvanmarrewijk 10:ac36f9a204dd 54 }
efvanmarrewijk 14:e21cb701ccb8 55
efvanmarrewijk 14:e21cb701ccb8 56 else if (button1 == 0 && button2 == 1)
efvanmarrewijk 13:6556cd086d07 57 { u3 = u3 - 0.1f;
efvanmarrewijk 13:6556cd086d07 58 if (u3>1.0f)
efvanmarrewijk 13:6556cd086d07 59 { u3 = 1.0f;
efvanmarrewijk 11:3efd6a324f16 60 }
efvanmarrewijk 9:65c52c1f4a57 61 }
efvanmarrewijk 14:e21cb701ccb8 62
efvanmarrewijk 11:3efd6a324f16 63 void draai()
efvanmarrewijk 11:3efd6a324f16 64 /* Function for the movement of all motors, using the potmeters for the moving
efvanmarrewijk 11:3efd6a324f16 65 direction and speed of motor 1 and 2, and using button 1 and 2 on the biorobotics
efvanmarrewijk 11:3efd6a324f16 66 shield for the moving direction and speed of motor 3.
efvanmarrewijk 11:3efd6a324f16 67 */
efvanmarrewijk 11:3efd6a324f16 68 {
efvanmarrewijk 11:3efd6a324f16 69 float u1 = 2.0*(pot1 - 0.5); // Normalised variable for the movement of motor 1
efvanmarrewijk 6:3c9569087274 70 if (u1>0)
efvanmarrewijk 6:3c9569087274 71 { pin4 = true;
efvanmarrewijk 6:3c9569087274 72 }
efvanmarrewijk 6:3c9569087274 73 else if(u1<0)
efvanmarrewijk 6:3c9569087274 74 { pin4 = false;
efvanmarrewijk 6:3c9569087274 75 }
efvanmarrewijk 6:3c9569087274 76 pin5 = fabs(u1);
efvanmarrewijk 6:3c9569087274 77
efvanmarrewijk 11:3efd6a324f16 78 float u2 = 2.0*(pot2 - 0.5); // Normalised variable for the movement of motor 2
efvanmarrewijk 11:3efd6a324f16 79 if (u2<0)
efvanmarrewijk 6:3c9569087274 80 { pin7 = true;
efvanmarrewijk 6:3c9569087274 81 }
efvanmarrewijk 11:3efd6a324f16 82 else if(u2>0)
efvanmarrewijk 6:3c9569087274 83 { pin7 = false;
efvanmarrewijk 6:3c9569087274 84 }
efvanmarrewijk 11:3efd6a324f16 85 pin6 = fabs(u2);
efvanmarrewijk 11:3efd6a324f16 86
efvanmarrewijk 11:3efd6a324f16 87 if (u3>0)
efvanmarrewijk 11:3efd6a324f16 88 { pin2 = true;
efvanmarrewijk 11:3efd6a324f16 89 }
efvanmarrewijk 11:3efd6a324f16 90 else if(u3<0)
efvanmarrewijk 11:3efd6a324f16 91 { pin2 = false;
efvanmarrewijk 11:3efd6a324f16 92 }
efvanmarrewijk 11:3efd6a324f16 93 else
efvanmarrewijk 11:3efd6a324f16 94 { pin3 = 0;
efvanmarrewijk 14:e21cb701ccb8 95 }
efvanmarrewijk 14:e21cb701ccb8 96 pin3 = fabs(u3);
Ramonwaninge 3:d39285fdd103 97 }
efvanmarrewijk 11:3efd6a324f16 98
efvanmarrewijk 16:720365110953 99 // Main program
efvanmarrewijk 11:3efd6a324f16 100 int main()
efvanmarrewijk 18:ca084c362855 101 {
efvanmarrewijk 14:e21cb701ccb8 102 pc.baud(115200);
efvanmarrewijk 18:ca084c362855 103
efvanmarrewijk 17:0ae9e8c958f8 104
efvanmarrewijk 16:720365110953 105 while (true)
efvanmarrewijk 18:ca084c362855 106 { Encoderinput();
Ramonwaninge 3:d39285fdd103 107 }
Ramonwaninge 0:3ea1bbfbeaae 108 }