Renate de Boer / Mbed 2 deprecated script_voor_project_copy

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Dependencies:   Servoaansturing mbed QEI HIDScope biquadFilter MODSERIAL FastPWM

main.cpp@35:113a4015d408, 2019-11-04 (annotated)

Committer:
Renate
Date:
Mon Nov 04 09:59:52 2019 +0000
Revision:
35:113a4015d408
Parent:
32:d651c23bbb77 
Script voor encoders

Who changed what in which revision?

UserRevisionLine numberNew contents of line
RobertoO 0:67c50348f842 1 #include "mbed.h"
Rosalie 3:6ee0b20c23b0 2 #include "HIDScope.h"
Rosalie 3:6ee0b20c23b0 3 #include "QEI.h"
RobertoO 1:b862262a9d14 4 #include "MODSERIAL.h"
Rosalie 3:6ee0b20c23b0 5 #include "BiQuad.h"
Rosalie 3:6ee0b20c23b0 6 #include "FastPWM.h"
Renate 32:d651c23bbb77 7 #define M_PI 3.14159265358979323846 /* pi */
WiesjeRoskamp 2:aee655d11b6d 8 #include <math.h>
Rosalie 5:9f1260408ef2 9 #include "Servo.h"
Renate 21:456acc79726c 10 #include <cmath>
Renate 29:8e0a7c33e4e7 11 #include <complex>
RobertoO 0:67c50348f842 12
WiesjeRoskamp 2:aee655d11b6d 13 Serial pc(USBTX, USBRX);
Rosalie 3:6ee0b20c23b0 14
Renate 28:7c7508bdb21f 15 PwmOut motor1(D6); // Misschien moeten we hiervoor DigitalOut gebruiken, moet
Renate 23:4572750a5c59 16 PwmOut motor2(D5); // samen kunnen gaan met de servo motor
Renate 21:456acc79726c 17
Renate 23:4572750a5c59 18 DigitalOut motor1_dir(D7);
Renate 23:4572750a5c59 19 DigitalOut motor2_dir(D4);
Renate 23:4572750a5c59 20
Renate 35:113a4015d408 21 QEI Encoder1(D13, D12, NC, 64);
Renate 35:113a4015d408 22 QEI Encoder2(D10, D9, NC, 64);
Renate 35:113a4015d408 23
Renate 23:4572750a5c59 24 // VARIABELEN VOOR ENCODER, MOTORHOEK ETC.
Renate 35:113a4015d408 25 double pulses_M1;
Renate 35:113a4015d408 26 double pulses_M2;
Renate 35:113a4015d408 27 double counts1;
Renate 35:113a4015d408 28 double counts2;
Renate 32:d651c23bbb77 29 const double conversion_factor = (2.0*M_PI)/(64.0*131.25*2.0);
Renate 21:456acc79726c 30 double theta_h_1_rad;
Renate 21:456acc79726c 31 double theta_h_2_rad;
Renate 35:113a4015d408 32 double offset1 = 0.0;
Renate 35:113a4015d408 33 double offset2 = 0.0;
Renate 23:4572750a5c59 34
Renate 35:113a4015d408 35 HIDScope scope(1);
Renate 30:0a328a9a4788 36
Renate 35:113a4015d408 37 Ticker loop;
Renate 31:967b455bc328 38
Renate 35:113a4015d408 39 void motors()
Renate 31:967b455bc328 40 {
Renate 35:113a4015d408 41 motor1.write(0.6);
Renate 35:113a4015d408 42 motor1_dir.write(1);
Renate 35:113a4015d408 43 motor2.write(0.6);
Renate 35:113a4015d408 44 motor2_dir.write(1);
Renate 35:113a4015d408 45
Renate 23:4572750a5c59 46 // Berekenen van de motorhoeken (in radialen)
Renate 32:d651c23bbb77 47 pulses_M1 = Encoder1.getPulses();
Renate 32:d651c23bbb77 48 counts1 = pulses_M1*2;
Renate 35:113a4015d408 49 theta_h_1_rad = conversion_factor*(counts1);
Renate 35:113a4015d408 50
Renate 35:113a4015d408 51 scope.set(0, theta_h_1_rad);
Renate 23:4572750a5c59 52 scope.send();
Renate 11:4bc0304978e2 53 }
WiesjeRoskamp 2:aee655d11b6d 54
Renate 8:c7d3b67346db 55 int main(void)
Renate 28:7c7508bdb21f 56 {
Renate 28:7c7508bdb21f 57 pc.printf("Opstarten\r\n");
Renate 35:113a4015d408 58 motor1.period_us(56);
Renate 35:113a4015d408 59 motor2.period_us(56);
Renate 35:113a4015d408 60 loop.attach(&motors, 0.002f);
Renate 35:113a4015d408 61 while(true)
Renate 35:113a4015d408 62 {
Renate 28:7c7508bdb21f 63 }
Renate 28:7c7508bdb21f 64 }