YY L
电机使用电位器进行速度调节
Revision 0:ad5e5d970dd9, committed 2022-03-24
- Comitter:
- YYL5213
- Date:
- Thu Mar 24 03:19:51 2022 +0000
- Child:
- 1:350bf501d1af
- Commit message:
- motor_control;
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/QEI.lib Thu Mar 24 03:19:51 2022 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/aberk/code/QEI/#5c2ad81551aa
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Thu Mar 24 03:19:51 2022 +0000
@@ -0,0 +1,72 @@
+#include "mbed.h"
+#include "QEI.h"
+
+Serial pc(SERIAL_TX, SERIAL_RX);//电脑串口通讯
+
+QEI EnA(PB_3,PA_4,NC,20);//编码器
+QEI EnB(PA_5,PA_6,NC,20);//编码器
+DigitalOut M1INA(PA_12);//方向1
+DigitalOut M1INB(PB_7);//方向2
+DigitalOut M2INA(PB_0);//方向1
+DigitalOut M2INB(PB_6);//方向2
+PwmOut M1PWM(PB_1);//pwm速度
+PwmOut M2PWM(PA_8);//pwm速度
+DigitalIn M1Iln(PA_11);//方向1
+DigitalIn M2Iln(PB_5);//方向2
+AnalogIn MI1(PA_0);//读电流
+AnalogIn MI2(PA_1);//读电流
+AnalogIn adj(PA_3);//读电流
+
+Ticker Velo;
+int VA=0,sttA=0,stpA=0,VB=0,sttB=0,stpB=0;
+
+float adj_point=0.0f;
+
+void motor_run(int M,float pwr,int drc)
+{
+ if(M==1) {
+ if(drc==0) {
+ M1INA=1;
+ M1INB=0;
+ } else {
+ M1INA=0;
+ M1INB=1;
+ }
+ M1PWM.period_us(100);
+ M1PWM.write(pwr);}
+ else{
+ if(drc==0) {
+ M2INA=1;
+ M2INB=0;
+ } else {
+ M2INA=0;
+ M2INB=1;
+ }
+ M2PWM.period_us(100);
+ M2PWM.write(pwr);
+ }
+
+}
+void Read_Velocity(){
+ stpA=EnA.getPulses();
+ stpB=EnB.getPulses();
+ VA=stpA-sttA;
+ VB=stpB-sttB;
+ sttA= stpA;
+ sttB= stpB;
+ pc.printf("%d %d %.3f\n",VA,VB,adj_point);
+ }
+int main()
+{ Velo.attach(&Read_Velocity, 0.01);
+ pc.baud(115200);
+ pc.printf("PC connected!\n");
+ while(1){
+ adj_point=adj.read();
+ motor_run(1,adj_point,0);
+ motor_run(2,adj_point,0);
+ wait_ms(50);
+ }
+}
+
+
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Thu Mar 24 03:19:51 2022 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400 \ No newline at end of file