Thom Kuenen / Mbed 2 deprecated Turning_Motor_V2

Overzetten

Dependencies:   HIDScope MODSERIAL mbed

main.cpp@4:a1691164d879, 2018-10-05 (annotated)

Committer:
ThomBMT
Date:
Fri Oct 05 11:42:05 2018 +0000
Revision:
4:a1691164d879
Parent:
3:4f5a67f4170b
Child:
5:0ae4951e9b81
Problem, through testing, apperantly is in the HIDscope expression;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ThomBMT 0:877f950fdfb5 1 #include "mbed.h"
ThomBMT 0:877f950fdfb5 2 #include "MODSERIAL.h"
ThomBMT 0:877f950fdfb5 3 #include "HIDScope.h"
ThomBMT 0:877f950fdfb5 4 MODSERIAL pc(USBTX, USBRX);
ThomBMT 0:877f950fdfb5 5
ThomBMT 0:877f950fdfb5 6 DigitalOut DirectionPin1(D4);
ThomBMT 0:877f950fdfb5 7 PwmOut PwmPin1(D5);
ThomBMT 0:877f950fdfb5 8 DigitalOut DirectionPin2(D7);
ThomBMT 0:877f950fdfb5 9 PwmOut PwmPin2(D6);
ThomBMT 0:877f950fdfb5 10 DigitalIn Knop1(D3);
ThomBMT 0:877f950fdfb5 11 DigitalIn Knop2(D2);
ThomBMT 0:877f950fdfb5 12 DigitalIn Knop3(PTA4);
ThomBMT 0:877f950fdfb5 13 DigitalIn Knop4(PTC6);
ThomBMT 0:877f950fdfb5 14
ThomBMT 0:877f950fdfb5 15 //Define objects
ThomBMT 0:877f950fdfb5 16 AnalogIn emg0( A0 );
ThomBMT 0:877f950fdfb5 17 AnalogIn emg1( A1 );
ThomBMT 0:877f950fdfb5 18
ThomBMT 0:877f950fdfb5 19 Ticker sample_timer;
ThomBMT 4:a1691164d879 20 //HIDScope scope( 2 );
ThomBMT 0:877f950fdfb5 21 DigitalOut led(LED1);
ThomBMT 0:877f950fdfb5 22
ThomBMT 3:4f5a67f4170b 23
ThomBMT 4:a1691164d879 24 int Turn_Motor1()
ThomBMT 0:877f950fdfb5 25 {
ThomBMT 4:a1691164d879 26 if(Knop1==false) // Motor 1 rotates CW
ThomBMT 0:877f950fdfb5 27 {
ThomBMT 0:877f950fdfb5 28 float u = 0.8f; //determine useful value, this is not final
ThomBMT 0:877f950fdfb5 29 DirectionPin1 = u > 0.0f; //either true or false
ThomBMT 0:877f950fdfb5 30 // True = CW, for False = CW
ThomBMT 0:877f950fdfb5 31 PwmPin1 = fabs(u);
ThomBMT 0:877f950fdfb5 32 PwmPin2 = fabs(0.0);
ThomBMT 0:877f950fdfb5 33 }
ThomBMT 0:877f950fdfb5 34
ThomBMT 4:a1691164d879 35 else if (Knop3==false)// We see that Motor2 keeps rotating if we leave out the "else" statement, somehow the signal leaks
ThomBMT 0:877f950fdfb5 36 {
ThomBMT 0:877f950fdfb5 37 float u = 0.8f;
ThomBMT 0:877f950fdfb5 38 DirectionPin1 = u < 0.0f;
ThomBMT 0:877f950fdfb5 39 PwmPin1 = fabs(u);
ThomBMT 0:877f950fdfb5 40 PwmPin2 = fabs(0.0);
ThomBMT 0:877f950fdfb5 41 }
ThomBMT 0:877f950fdfb5 42
ThomBMT 4:a1691164d879 43 else
ThomBMT 4:a1691164d879 44 {
ThomBMT 4:a1691164d879 45 float u = 0.0f;
ThomBMT 4:a1691164d879 46 PwmPin1 = fabs(u);
ThomBMT 4:a1691164d879 47 }
ThomBMT 4:a1691164d879 48 return 0;
ThomBMT 4:a1691164d879 49 }
ThomBMT 4:a1691164d879 50
ThomBMT 4:a1691164d879 51 int Turn_Motor2()
ThomBMT 4:a1691164d879 52 {
ThomBMT 4:a1691164d879 53 if (Knop2==false)
ThomBMT 4:a1691164d879 54 {
ThomBMT 4:a1691164d879 55 float u = 0.8f;
ThomBMT 4:a1691164d879 56 DirectionPin2 = u < 0.0f;
ThomBMT 4:a1691164d879 57 PwmPin1 = fabs(0.0);
ThomBMT 4:a1691164d879 58 PwmPin2 = fabs(u);
ThomBMT 4:a1691164d879 59 }
ThomBMT 4:a1691164d879 60
ThomBMT 0:877f950fdfb5 61 else if (Knop4==false)
ThomBMT 0:877f950fdfb5 62 {
ThomBMT 0:877f950fdfb5 63 float u = 0.8f;
ThomBMT 0:877f950fdfb5 64 DirectionPin2 = u > 0.0f;
ThomBMT 0:877f950fdfb5 65 PwmPin1 = fabs(0.0);
ThomBMT 0:877f950fdfb5 66 PwmPin2 = fabs(u);
ThomBMT 0:877f950fdfb5 67
ThomBMT 0:877f950fdfb5 68 }
ThomBMT 0:877f950fdfb5 69
ThomBMT 0:877f950fdfb5 70 else
ThomBMT 0:877f950fdfb5 71 {
ThomBMT 0:877f950fdfb5 72 float u = 0.0f;
ThomBMT 4:a1691164d879 73 PwmPin2 = fabs(u);
ThomBMT 0:877f950fdfb5 74 }
ThomBMT 4:a1691164d879 75 return 0;
ThomBMT 4:a1691164d879 76 }
ThomBMT 4:a1691164d879 77 /*
ThomBMT 4:a1691164d879 78 void sample()
ThomBMT 4:a1691164d879 79 {
ThomBMT 4:a1691164d879 80
ThomBMT 4:a1691164d879 81 scope.set(0, emg0.read() );
ThomBMT 4:a1691164d879 82 scope.set(1, emg1.read() );
ThomBMT 4:a1691164d879 83
ThomBMT 4:a1691164d879 84 scope.send();
ThomBMT 4:a1691164d879 85 led = !led;
ThomBMT 4:a1691164d879 86 }
ThomBMT 4:a1691164d879 87 */
ThomBMT 4:a1691164d879 88
ThomBMT 4:a1691164d879 89 int main()
ThomBMT 4:a1691164d879 90 {
ThomBMT 4:a1691164d879 91
ThomBMT 4:a1691164d879 92 pc.baud(115200);
ThomBMT 4:a1691164d879 93 // sample_timer.attach(&sample, 0.002);
ThomBMT 4:a1691164d879 94 PwmPin1.period_us(120); //60 microseconds pwm period, 16.7 kHz
ThomBMT 4:a1691164d879 95
ThomBMT 4:a1691164d879 96 for(;;)
ThomBMT 4:a1691164d879 97 {
ThomBMT 4:a1691164d879 98 Turn_Motor1();
ThomBMT 4:a1691164d879 99 Turn_Motor2();
ThomBMT 0:877f950fdfb5 100 }
ThomBMT 0:877f950fdfb5 101 }