adrian mb
4 control direction and velocity of a EMG30 DC motor, reading RPM via encoder and debugging via serial
Revision 0:566f6ce93ddc, committed 2012-04-20
- Comitter:
- adrianmb
- Date:
- Fri Apr 20 02:28:35 2012 +0000
- Commit message:
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
| mbed.bld | Show annotated file Show diff for this revision Revisions of this file |
diff -r 000000000000 -r 566f6ce93ddc main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Fri Apr 20 02:28:35 2012 +0000
@@ -0,0 +1,98 @@
+#include "mbed.h"
+
+Timer t;
+Ticker tmrSend;
+
+BusOut leds(LED1,LED2,LED3,LED4);
+BusOut motor(p10,p11);
+int cw=0x02;
+int ccw=0x01;
+
+PwmOut vel(p21);
+
+InterruptIn encA(p5);
+DigitalIn encB(p6);
+
+Serial bt(p28,p27);
+
+char in;
+int rpm;
+
+void dataIn();
+void RPM();
+void sendData();
+
+int main() {
+ t.start();
+ vel=0;
+ motor=cw;
+
+ bt.baud(115200);
+ bt.attach(&dataIn);
+
+ encA.mode(PullUp);
+ encA.fall(&RPM);
+
+ tmrSend.attach(&sendData,1);
+
+ bt.printf("Control de velocidad y sentido de motor CC V1.0\n\n\r");
+
+}
+
+void dataIn() {
+ if (bt.readable()) {
+ in=bt.getc();
+ switch (in) {
+ case '1':
+ bt.printf("Velocidad 25/100\n\r");
+ leds=0x01;
+ vel=0.25;
+ break;
+ case '2':
+ bt.printf("Velocidad 50/100\n\r");
+ leds=0x03;
+ vel=0.5;
+ break;
+ case '3':
+ bt.printf("Velocidad 75/100\n\r");
+ leds=0x07;
+ vel=0.75;
+ break;
+ case '4':
+ bt.printf("Velocidad 100/100\n\r");
+ leds=0x0F;
+ vel=1;
+ break;
+ case 'a':
+ bt.printf("Sentido de giro: CW\n\r");
+ motor=cw;
+ break;
+ case 's':
+ bt.printf("Sentido de giro: CCW\n\r");
+ motor=ccw;
+ break;
+ case 'd':
+ bt.printf("Motor detenido\n\r");
+ leds=0x00;
+ vel=0;
+ rpm=0;
+ break;
+ }
+ }
+}
+
+void RPM() {
+ float time;
+ t.stop();
+ time=t.read();
+ rpm=(1/(time*90)*60);
+ t.reset();
+ t.start();
+}
+
+void sendData() {
+ if (vel==0)
+ rpm=0;
+ bt.printf("Velocidad actual %d RPM\n\r",rpm);
+}
+
diff -r 000000000000 -r 566f6ce93ddc mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Fri Apr 20 02:28:35 2012 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/737756e0b479