File content as of revision 6:2cfdda6721ab:

#include "mbed.h"
#include "encoder.h"
#include "MODSERIAL.h"

/*******************************************************************************
*                                                                              *
*   Code can be found at http://mbed.org/users/vsluiter/code/BMT-K9-Regelaar/  *
*                                                                              *
********************************************************************************/

/** keep_in_range -> float in, and keep_in_range if less than min, or larger than max **/
void keep_in_range(float * in, float min, float max);

/** variable to show when a new loop can be started*/
/** volatile means that it can be changed in an    */
/** interrupt routine, and that that change is vis-*/
/** ible in the main loop. */

volatile bool looptimerflag;

/** function called by Ticker "looptimer"     */
/** variable 'looptimerflag' is set to 'true' */
/** each time the looptimer expires.          */
void setlooptimerflag(void)
{
    looptimerflag = true;
}

int main()
{
    //LOCAL VARIABLES
    /*Potmeter input*/
    AnalogIn potmeterA(PTC2);
    AnalogIn potmeterB(PTB2);
    /* Encoder, using my encoder library */
    /* First pin should be PTDx or PTAx  */
    /* because those pins can be used as */
    /* InterruptIn                       */
    Encoder motorA(PTD4,PTC8);
    Encoder motorB(PTD0,PTD2);
    /* MODSERIAL to get non-blocking Serial*/
    MODSERIAL pc(USBTX,USBRX);
    /* PWM control to motor */
    PwmOut pwm_motorA(PTA12);
    PwmOut pwm_motorB(PTA5);
    /* Direction pin */
    DigitalOut motordirA(PTD3);
    DigitalOut motordirB(PTD1);
    /* variable to store setpoint in */
    float setpointA;
    float setpointB;
    float setpoint_beginA;
    float setpoint_beginB;
    float setpoint_rechtsonderA;
    float setpoint_rechtsonderB;
    /* variable to store pwm value in*/
    float pwm_to_motorA;
    float pwm_to_begin_motorA = 0;
    float pwm_to_begin_motorB = 0;
    float pwm_to_motorB;
    float pwm_to_rechtsonder_motorA;
    float pwm_to_rechtsonder_motorB;
    int32_t positionmotorA_t0;
    int32_t positionmotorB_t0;
    int32_t positionmotorA_t_1;
    int32_t positionmotorB_t_1;
    int32_t positiondifference_motorA;
    int32_t positiondifference_motorB;

    //START OF CODE

    /*Set the baudrate (use this number in RealTerm too!) */
    pc.baud(921600);

    // in dit stukje code zorgen we ervoor dat de arm gaat draaien naar rechts en stopt als het tegen het frame komt. Eerst motor B botsen dan motor A botsen
 /*   motordirB.write(0);
    pwm_motorB.write(.08);
    positionmotorB_t0 = motorB.getPosition();
    do {
        wait(0.2);
        positionmotorB_t_1 = positionmotorB_t0;
        positionmotorB_t0 = motorB.getPosition();
        positiondifference_motorB = abs(positionmotorB_t0 - positionmotorB_t_1);
    } while(positiondifference_motorB > 10);
    motorB.setPosition(0);
    pwm_motorB.write(0);

    motordirA.write(1);
    pwm_motorA.write(.08);
    positionmotorA_t0 = motorA.getPosition();
    do {
        wait(0.2);
        positionmotorA_t_1 = positionmotorA_t0 ;
        positionmotorA_t0 = motorA.getPosition();
        positiondifference_motorA = abs(positionmotorA_t0 - positionmotorA_t_1);
    } while(positiondifference_motorA > 10);
    motorA.setPosition(0);
    pwm_motorA.write(0);

    // Hierna willen we de motor van zijn aller uiterste positie naar de x-as hebben. Hiervoor moet motor A eerst op de x-as worden gezet. Hiervoor moet motor A 4.11 graden (63) naar links.
    // Hierna moet motor B 21.6 (192) graden naar links. Dus eerst motor A en dan motor B.
*/
    Ticker looptimer;
    looptimer.attach(setlooptimerflag,0.01);

    do {
       pwm_to_begin_motorA = abs((setpoint_beginA - motorA.getPosition()) *.001);
    } while(pwm_to_begin_motorA <= 0.001); {
        while(looptimerflag != true);
        looptimerflag = false;
        setpoint_beginA = -1000;     //-63 negatief omdat de motor op zijn kop hangt
        //pwm_to_begin_motorA = abs((setpoint_beginA - motorA.getPosition()) *.001);
        keep_in_range(&pwm_to_begin_motorA, -1, 1 );
        motordirA.write(0);
        pwm_motorA.write(pwm_to_begin_motorA);
    }
    motorA.setPosition(0);
    pwm_motorA.write(0);

    do{
    pwm_to_begin_motorB = abs((setpoint_beginB - motorB.getPosition()) *.001);
    }
    while(pwm_to_begin_motorB <= 0.001); {
        while(looptimerflag != true);
        looptimerflag = false;
        setpoint_beginB = 1000;      //192
        keep_in_range(&pwm_to_begin_motorB, -1,1);
        motordirB.write(1);
        pwm_motorB.write(pwm_to_begin_motorB);
    }
    motorB.setPosition(0);
    pwm_motorB.write(0);

// nu naar positie rechtsonderhoek A4 deze is voor motor A 532 en voor motor B 460

//while(0) ///1
//{
//    while(looptimerflag != true);
//
//    looptimerflag = false;

//   setpoint_rechtsonderA = 531;     // naar rechter onderhoek
    // pwm_to_rechtsonder_motorA = setpoint_rechtsonderA *.001;
    //  keep_in_range(&pwm_to_rechtsonder_motorA, -1, 1 );
//    if(pwm_to_rechtsonder_motorA > 0.531) {
//        motordirA.write(0);
//        pwm_motorA.write(0);
//    } else
//        motordirA.write(1);
//    pwm_motorA.write(abs(pwm_to_rechtsonder_motorA));

//    while(looptimerflag != true);
//    looptimerflag = false;

//    setpoint_rechtsonderB = 460;
//    pwm_to_rechtsonder_motorB = setpoint_rechtsonderB *.001;
//    keep_in_range(&pwm_to_rechtsonder_motorB, -1,1);
//    if(pwm_to_rechtsonder_motorB > 0.460) {
//        motordirB.write(0);
//        pwm_motorB.write(0);
//    } else
    //      motordirB.write(1);
//    pwm_motorB.write(abs(pwm_to_rechtsonder_motorB));

//}

    while((pwm_to_begin_motorA >= 0)&&(pwm_to_begin_motorB >= 0)) {
        while(looptimerflag != true);
        looptimerflag = false;

        setpoint_beginA = 1000;//532     // naar rechteronderhoek A4
        pwm_to_begin_motorA = (setpoint_beginA - motorA.getPosition()) *.001;
        keep_in_range(&pwm_to_begin_motorA, -1, 1 );
        motordirA.write(0);
        pwm_motorA.write(abs(pwm_to_begin_motorA));

        while(looptimerflag != true);
        looptimerflag = false;

        setpoint_beginB = 1000; //460
        pwm_to_begin_motorB = (setpoint_beginB - motorB.getPosition()) *.001;
        keep_in_range(&pwm_to_begin_motorB, -1,1);
        motordirB.write(1);
        pwm_motorB.write(abs(pwm_to_begin_motorB));
    }
    pwm_motorA.write(0);
    pwm_motorB.write(0);



    /*Create a ticker, and let it call the     */
    /*function 'setlooptimerflag' every 0.01s  */

//INFINITE LOOP
    while(1) {
        /* Wait until looptimer flag is true. */
        /* '!=' means not-is-equal            */
        while(looptimerflag != true);
        /* Clear the looptimerflag, otherwise */
        /* the program would simply continue  */
        /* without waitingin the next iteration*/
        looptimerflag = false;




        /* Read potmeter value, apply some math */
        /* to get useful setpoint value         */
        setpointA = (potmeterA.read()-0.5)*(631/2); // bereik van 71 graden             dit afhankelijk van waar nul punt zit en waar heel wil. Dus afh. van EMG lezen
        setpointB = (potmeterB.read()-0.5)*(415/2);  // bereik van 46.7 graden           1000 dan rotatie langzamer maken als lager maakt.


        // motor A moet de hoek altijd binnen 53.4 tot en met 124.3 graden liggen
        // motor B moet de hoek altijd binnen 30.2 tot en met -16.5 graden liggen
        keep_in_range(&setpointA, 474, 1105);
        keep_in_range(&setpointB, -147, 269);

        /* Print setpoint and current position to serial terminal*/
        pc.printf("s: %f, %d ", setpointA, motorA.getPosition());
        pc.printf("s: %f, %d \n\r", setpointB, motorB.getPosition());

        /* This is a P-action! calculate error, multiply with gain, and store in pwm_to_motor */
        pwm_to_motorA = (setpointA - motorA.getPosition())*.001;
        pwm_to_motorB = (setpointB - motorB.getPosition())*.001;
        /* Coerce pwm value if outside range          */
        /* Not strictly needed here, but useful       */
        /* if doing other calculations with pwm value */
        keep_in_range(&pwm_to_motorA, -1,1);
        keep_in_range(&pwm_to_motorB, -1,1);

        /* Control the motor direction pin. based on   */
        /* the sign of your pwm value.      If your    */
        /* motor keeps spinning when running this code */
        /* you probably need to swap the motor wires,  */
        /* or swap the 'write(1)' and 'write(0)' below */
        if(pwm_to_motorA > 0)
            motordirA.write(1);
        else
            motordirA.write(0);
        if(pwm_to_motorB > 0)
            motordirB.write(1);
        else
            motordirB.write(0);


        //WRITE VALUE TO MOTOR
        /* Take the absolute value of the PWM to send */
        /* to the motor. */
        pwm_motorA.write(abs(pwm_to_motorA));
        pwm_motorB.write(abs(pwm_to_motorB));
    }
}


//coerces value 'in' to min or max when exceeding those values
//if you'd like to understand the statement below take a google for
//'ternary operators'.
void keep_in_range(float * in, float min, float max)
{
*in > min ? *in < max? : *in = max: *in = min;
}