Diff: main.cpp

Revision:

0:e2de1fe5b34c

Child:

1:17e250b48fe0

Child:

2:27fe9488ba61

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Oct 05 21:00:15 2015 +0000
@@ -0,0 +1,66 @@
+#include "mbed.h"
+#include "QEI.h"
+#include "MODSERIAL.h"
+//#include <"math.h">
+
+QEI motor1(D13,D12,NC, 624);
+MODSERIAL pc(USBTX,USBRX);
+DigitalOut direction1(D7);
+PwmOut speed1(D6);
+DigitalIn button1(PTC6);
+
+int main()
+{
+   DigitalOut led(LED_RED);
+   pc.baud(115200);
+   float cycle = 0.6;//define the speed of the motor
+   int motor1_on = 0;
+   int motor1_dir=0;
+   int motor1_cw=0;
+   int motor1_ccw=1;
+   
+   if (button1.read()==!motor1_on){//alternate between ccw and cw when the button is no longer being pressed.
+       motor1_dir=!motor1_dir;
+       }
+   while(button1.read() == motor1_on){// turn on motor 1 when the button is being pressed
+       DigitalOut led(LED_BLUE);
+       direction1.write(motor1_dir);//turn motor CCW or CW if set to 0
+   //motor CW = 0
+   //motor CCW = 1
+       speed1.period_us(100);//Set period of PWM to 100 us.
+       speed1.write(cycle);//write the speed to the motor  
+}
+}
+       //determine speed of movement from the encoder signal
+       // the amount of counts for one revolution is 32
+       //this is X2 encodng, as the QEI uses X2 by default 
+       //and the motor encoder has a X4 encoder and thus 64 counts per revolution
+       //thus keeping in mind the gearbox with 1:131,25 gear ratio:
+       // the amount of counts for a gearbox revolution or resolution is 8400
+       // a revolution is 2 pi rad, resolution is : 8400/2 pi = 1336.90 counts/rad
+       //or for the encoder x2 its 668,45 counts/rad
+ /*      
+   Rotational position in degrees can be calculated by:
+ *
+ * (pulse count / X * N) * 360
+ *
+ * Where X is the encoding type [e.g. X4 encoding => X=4], and N is the number
+ * of pulses per revolution.
+ *
+ * Linear position can be calculated by:
+ *
+ * (pulse count / X * N) * (1 / PPI)
+ *
+ * Where X is encoding type [e.g. X4 encoding => X=44], N is the number of
+ * pulses per revolution, and PPI is pulses per inch, or the equivalent for
+ * any other unit of displacement. PPI can be calculated by taking the
+ * circumference of the wheel or encoder disk and dividing it by the number
+ * of pulses per revolution.
+ 
+     * Reset the encoder.
+     *
+     * Sets the pulses and revolutions count to zero.
+     
+    void reset(void);
+ */
+   
\ No newline at end of file