main.cpp

00001 #include "mbed.h"
00002 #include "QEI.h"
00003 #include "MODSERIAL.h"
00004 //#include <"math.h">
00005 
00006 QEI motor1(D13,D12,NC, 624);//encoder for motor 1
00007 QEI motor2(D11,D10,NC, 624);//encoder for motor 2
00008 MODSERIAL pc(USBTX,USBRX);
00009 DigitalOut direction1(D7);//direction input for motor 1
00010 DigitalOut direction2(D4);//direction input for motor 2
00011 PwmOut speed1(D6);//speed input for motor 1
00012 PwmOut speed2(D5);//speed input for motor 2
00013 InterruptIn button1(PTC6);//test button for starting motor 1 using intteruptin function
00014 InterruptIn button2(PTA4);//test button for starting motor 2 using interruptin function
00015 DigitalOut led1(LED_RED);
00016 DigitalOut led2(LED_BLUE);
00017 DigitalOut led3(LED_GREEN);
00018 bool motor1_dir=0;//set the direction of motor 1
00019 bool motor2_dir = 0;//set the direction of motor 1
00020 
00021 void changedirmotor1(){
00022         motor1_dir = !motor1_dir;//code for changing direction of motor 1
00023         }
00024 void changedirmotor2(){
00025         motor2_dir = !motor2_dir;//code for changing direction of motor 2
00026         }        
00027 
00028 
00029 int main()
00030 {
00031    float cycle = 0.3;//define the speed of the motor
00032    bool motor1_on = 1;//set the on variable of motor 1
00033    
00034    bool motor2_on =1;//set the on variable of motor 2
00035    int n1=1;//numeric condtions to determine if the speed needs to be increased
00036    int n2=1;
00037    bool CW =1;
00038    bool CCW = 0;
00039    button1.mode(PullDown);//setting the modes for the way the button signals are registered
00040    button2.mode(PullDown);
00041 
00042 while(1){
00043        led3.write(0);
00044        led1.write(1);
00045        led2.write(1);
00046        pc.baud(115200);
00047        
00048        button1.fall(changedirmotor1);//replacement code for toggle function,  thus changing direction when pressed
00049        /*
00050         int diffa1 = -button1.read();//read out the button 1 signal and calculate if it is being pressed or released interrupt function might work better as toggle
00051         wait(0.3);//from this we can determine if the rotation direction needs to be reversed.
00052         int diffb1 = button1.read();
00053         int button_toggle1 = diffa1-diffb1;
00054         if(button_toggle1 == 1 && motor1_dir == CW){
00055                 motor1_dir = CCW;
00056                 }
00057         else if(button_toggle1 == 1 && motor1_dir == CCW){
00058                 motor1_dir = CW;
00059                 }       
00060        */
00061        if(button1.read() !=motor1_on){//check if button 1 is pressed
00062                   led3.write(1);
00063                   led1.write(0);
00064               while(n1 == 1){
00065                   speed1.write(cycle);//write speed only on first run through the loop
00066                   direction1.write(motor1_dir);//turn motor CCW or CW 
00067                   
00068                   n1=0;
00069                   }
00070                           }
00071             else if (button1.read() == motor1_on){//when button is released
00072                 while(n1==0){//check if the first run was done
00073                     speed1.write(0);//if so set speed to 0 and reset the run counter
00074                     n1=1;
00075                     }
00076                 }
00077                 button2.fall(changedirmotor2);//replacement code for toggle function,  thus changing direction when pressed
00078  
00079        /*
00080        int diffa2 = button2.read();//read out the button 2 signal and calculate if it is being pressed or released
00081        wait(0.3);//from this we can determine if the rotation direction needs to be reversed.
00082        int diffb2 = button2.read();
00083        int button_toggle2 = diffa2-diffb2;
00084        if(button_toggle2 == 1 && motor2_dir == CW){
00085                 motor2_dir = CCW;
00086                 }
00087         else if(button_toggle2 == 1 && motor2_dir == CCW){
00088                 motor2_dir = CW;
00089                 }
00090     */
00091    
00092        if(button2.read()!=motor2_on){//check if button 2 is pressed
00093                   led3.write(1);
00094                   led2.write(0);
00095               while(n2 == 1){
00096                   speed2.write(cycle);//write speed only on first run through the loop
00097                   direction2.write(motor2_dir);//turn motor CCW or CW 
00098                   
00099                   n2=0;
00100                   }
00101                           }
00102             else if (button2.read() == motor2_on){//when button is released
00103                 while(n2==0){//check if the first run was done
00104                     speed2.write(0);//if so set speed to 0 and reset the run counter
00105                     n2=1;
00106                     }
00107                 }                
00108 }
00109 }