Thomas Giraud-Sauveur / Mbed 2 deprecated Gimbal_ENSEA

pour simone

Dependencies:   MPU6050 mbed

mycontroller.cpp@0:63c6db89607f, 2016-06-03 (annotated)

Committer:
ThomasGS
Date:
Fri Jun 03 13:51:01 2016 +0000
Revision:
0:63c6db89607f
Child:
2:146ff0747375
1rst one

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ThomasGS 0:63c6db89607f 1 #include "mycontroller.h"
ThomasGS 0:63c6db89607f 2
ThomasGS 0:63c6db89607f 3 //const int pwmSin[] = {128, 132, 136, 140, 143, 147, 151, 155, 159, 162, 166, 170, 174, 178, 181, 185, 189, 192, 196, 200, 203, 207, 211, 214, 218, 221, 225, 228, 232, 235, 238, 239, 240, 241, 242, 243, 244, 245, 246, 247, 248, 248, 249, 250, 250, 251, 252, 252, 253, 253, 253, 254, 254, 254, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 254, 254, 254, 253, 253, 253, 252, 252, 251, 250, 250, 249, 248, 248, 247, 246, 245, 244, 243, 242, 241, 240, 239, 238, 239, 240, 241, 242, 243, 244, 245, 246, 247, 248, 248, 249, 250, 250, 251, 252, 252, 253, 253, 253, 254, 254, 254, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 254, 254, 254, 253, 253, 253, 252, 252, 251, 250, 250, 249, 248, 248, 247, 246, 245, 244, 243, 242, 241, 240, 239, 238, 235, 232, 228, 225, 221, 218, 214, 211, 207, 203, 200, 196, 192, 189, 185, 181, 178, 174, 170, 166, 162, 159, 155, 151, 147, 143, 140, 136, 132, 128, 124, 120, 116, 113, 109, 105, 101, 97, 94, 90, 86, 82, 78, 75, 71, 67, 64, 60, 56, 53, 49, 45, 42, 38, 35, 31, 28, 24, 21, 18, 17, 16, 15, 14, 13, 12, 11, 10, 9, 8, 8, 7, 6, 6, 5, 4, 4, 3, 3, 3, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 3, 3, 3, 4, 4, 5, 6, 6, 7, 8, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 17, 16, 15, 14, 13, 12, 11, 10, 9, 8, 8, 7, 6, 6, 5, 4, 4, 3, 3, 3, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 3, 3, 3, 4, 4, 5, 6, 6, 7, 8, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 21, 24, 28, 31, 35, 38, 42, 45, 49, 53, 56, 60, 64, 67, 71, 75, 78, 82, 86, 90, 94, 97, 101, 105, 109, 113, 116, 120, 124};
ThomasGS 0:63c6db89607f 4
ThomasGS 0:63c6db89607f 5 const int pwmSin[102] = {127,135,143,150,158,166,173,180,187,194,201,207,213,219,224,229,233,237,241,244,247,250,252,253,254,254,254,254,253,252,250,247,244,241,237,233,229,224,219,213,207,201,194,187,180,173,166,158,150,143,135,127,119,111,104,96,88,81,74,67,60,53,47,41,35,30,25,21,17,13,10,7,4,2,1,0,0,0,0,1,2,4,7,10,13,17,21,25,30,35,41,47,53,60,67,74,81,88,96,104,111,119};
ThomasGS 0:63c6db89607f 6
ThomasGS 0:63c6db89607f 7
ThomasGS 0:63c6db89607f 8 PwmOut pwm[] = {(PA_10),(PA_6),(PB_6)};
ThomasGS 0:63c6db89607f 9 DigitalOut enableA(PA_7);
ThomasGS 0:63c6db89607f 10 DigitalOut enableB(PA_9);
ThomasGS 0:63c6db89607f 11
ThomasGS 0:63c6db89607f 12
ThomasGS 0:63c6db89607f 13
ThomasGS 0:63c6db89607f 14 brushlessservo::brushlessservo(/*PwmOut phaseA,PwmOut phaseB,PwmOut &phaseC,DigitalOut &EENNAABLE1,DigitalOut &EENNAABLE2*/)
ThomasGS 0:63c6db89607f 15 {
ThomasGS 0:63c6db89607f 16 /*
ThomasGS 0:63c6db89607f 17 pwm[1]=phaseA;
ThomasGS 0:63c6db89607f 18 pwm[2]=phaseB;
ThomasGS 0:63c6db89607f 19 pwm[3]=phaseC;
ThomasGS 0:63c6db89607f 20 enableA=EENNAABLE1;
ThomasGS 0:63c6db89607f 21 enableB=EENNAABLE2;
ThomasGS 0:63c6db89607f 22 */
ThomasGS 0:63c6db89607f 23
ThomasGS 0:63c6db89607f 24 sineArraySize = sizeof(pwmSin)/sizeof(int);
ThomasGS 0:63c6db89607f 25 int phaseShift = sineArraySize / 3;
ThomasGS 0:63c6db89607f 26
ThomasGS 0:63c6db89607f 27 enableA=1;
ThomasGS 0:63c6db89607f 28 enableB=1;
ThomasGS 0:63c6db89607f 29
ThomasGS 0:63c6db89607f 30
ThomasGS 0:63c6db89607f 31 phase[0]=0;
ThomasGS 0:63c6db89607f 32 phase[1]=phase[0]+phaseShift;
ThomasGS 0:63c6db89607f 33 phase[2]=phase[1]+phaseShift;
ThomasGS 0:63c6db89607f 34
ThomasGS 0:63c6db89607f 35 direction=1;
ThomasGS 0:63c6db89607f 36
ThomasGS 0:63c6db89607f 37 for(int i = 0;i<3;i++){
ThomasGS 0:63c6db89607f 38 pwm[i]=phase[i];
ThomasGS 0:63c6db89607f 39 pwm[i].period(1/20000.0);
ThomasGS 0:63c6db89607f 40 };
ThomasGS 0:63c6db89607f 41
ThomasGS 0:63c6db89607f 42 realtheta=0;
ThomasGS 0:63c6db89607f 43
ThomasGS 0:63c6db89607f 44 }
ThomasGS 0:63c6db89607f 45
ThomasGS 0:63c6db89607f 46 void brushlessservo::gotothetha(int32_t theta)
ThomasGS 0:63c6db89607f 47 {
ThomasGS 0:63c6db89607f 48 int32_t theta_diff;
ThomasGS 0:63c6db89607f 49 theta_diff = theta - realtheta;
ThomasGS 0:63c6db89607f 50
ThomasGS 0:63c6db89607f 51 if(theta_diff<0)
ThomasGS 0:63c6db89607f 52 {
ThomasGS 0:63c6db89607f 53 direction=0;
ThomasGS 0:63c6db89607f 54 theta_diff=-theta_diff;
ThomasGS 0:63c6db89607f 55 }
ThomasGS 0:63c6db89607f 56 else
ThomasGS 0:63c6db89607f 57 {
ThomasGS 0:63c6db89607f 58 direction=1;
ThomasGS 0:63c6db89607f 59 }
ThomasGS 0:63c6db89607f 60
ThomasGS 0:63c6db89607f 61
ThomasGS 0:63c6db89607f 62 for(int i =0;i<theta_diff/5;i++)
ThomasGS 0:63c6db89607f 63 {
ThomasGS 0:63c6db89607f 64 for(int j=0;j<3;j++)
ThomasGS 0:63c6db89607f 65 {
ThomasGS 0:63c6db89607f 66 if(direction==1){
ThomasGS 0:63c6db89607f 67 phase[j]+=1;
ThomasGS 0:63c6db89607f 68 phase[j]%=sineArraySize;
ThomasGS 0:63c6db89607f 69 }
ThomasGS 0:63c6db89607f 70 else
ThomasGS 0:63c6db89607f 71 {
ThomasGS 0:63c6db89607f 72 phase[j]-=1;
ThomasGS 0:63c6db89607f 73 phase[j]%=sineArraySize;
ThomasGS 0:63c6db89607f 74 if(phase[j]<0)
ThomasGS 0:63c6db89607f 75 {
ThomasGS 0:63c6db89607f 76 phase[j]+=sineArraySize;
ThomasGS 0:63c6db89607f 77 }
ThomasGS 0:63c6db89607f 78 }
ThomasGS 0:63c6db89607f 79 pwm[j]=pwmSin[phase[j]]/255.0;
ThomasGS 0:63c6db89607f 80 }
ThomasGS 0:63c6db89607f 81 direction?realtheta+=5:realtheta-=5;
ThomasGS 0:63c6db89607f 82 wait_ms(1);
ThomasGS 0:63c6db89607f 83 }
ThomasGS 0:63c6db89607f 84 }
ThomasGS 0:63c6db89607f 85
ThomasGS 0:63c6db89607f 86
ThomasGS 0:63c6db89607f 87 void brushlessservo::test()
ThomasGS 0:63c6db89607f 88 {
ThomasGS 0:63c6db89607f 89 for(int j=0;j<3;j++){
ThomasGS 0:63c6db89607f 90 pwm[j]=0.5;
ThomasGS 0:63c6db89607f 91 }
ThomasGS 0:63c6db89607f 92
ThomasGS 0:63c6db89607f 93 }
ThomasGS 0:63c6db89607f 94
ThomasGS 0:63c6db89607f 95
ThomasGS 0:63c6db89607f 96
ThomasGS 0:63c6db89607f 97 void brushlessservo::updatepwm()
ThomasGS 0:63c6db89607f 98 {
ThomasGS 0:63c6db89607f 99
ThomasGS 0:63c6db89607f 100 }