Controlling the motors
Dependencies: FastPWM HIDScope MODSERIAL QEI mbed
main.cpp@3:7421e53bf9bd, 2018-09-25 (annotated)
- Committer:
- Mirjam
- Date:
- Tue Sep 25 12:26:08 2018 +0000
- Revision:
- 3:7421e53bf9bd
- Parent:
- 2:840f7aa50e55
- Child:
- 4:c73ced5d5754
Scale pot values from -1 to 1 instead of 0 to 1
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Mirjam | 0:50c494034326 | 1 | #include "mbed.h" |
Mirjam | 0:50c494034326 | 2 | #include "FastPWM.h" |
Mirjam | 0:50c494034326 | 3 | #include "MODSERIAL.h" |
Mirjam | 0:50c494034326 | 4 | #include "HIDScope.h" |
Mirjam | 0:50c494034326 | 5 | |
Mirjam | 0:50c494034326 | 6 | |
Mirjam | 0:50c494034326 | 7 | AnalogIn potmeter1(PTC10); |
Mirjam | 0:50c494034326 | 8 | AnalogIn potmeter2(PTC11); |
Mirjam | 0:50c494034326 | 9 | MODSERIAL pc(USBTX, USBRX); |
Mirjam | 0:50c494034326 | 10 | //D4 is a digital input for the microcontroller, so should be an digitalOut |
Mirjam | 0:50c494034326 | 11 | //from the K64F. It will tell the motor shiel to let Motor1 turn clockwise |
Mirjam | 0:50c494034326 | 12 | //of count clockwise (CW of CCW). D4 for motor 2 |
Mirjam | 0:50c494034326 | 13 | DigitalOut directionM1(D4); |
Mirjam | 0:50c494034326 | 14 | DigitalOut directionM2(D7); |
Mirjam | 0:50c494034326 | 15 | //D5 is a PWM input for the motor controller and determines the PWM signal |
Mirjam | 0:50c494034326 | 16 | //that the motor controller gives to Motor 1. Higher PWM, higer average voltage. |
Mirjam | 0:50c494034326 | 17 | // D6 for motor 2 |
Mirjam | 0:50c494034326 | 18 | FastPWM motor1_pwm(D5); |
Mirjam | 0:50c494034326 | 19 | FastPWM motor2_pwm(D6); |
Mirjam | 0:50c494034326 | 20 | |
Mirjam | 2:840f7aa50e55 | 21 | // Voor het laten zien van de data op de pc. |
Mirjam | 2:840f7aa50e55 | 22 | HIDScope scope(2); // Aantal kanalen wat doorgegeven wordt aan de hidscope |
Mirjam | 2:840f7aa50e55 | 23 | Ticker AInTicker; |
Mirjam | 2:840f7aa50e55 | 24 | float potwaarde1; |
Mirjam | 2:840f7aa50e55 | 25 | float potwaarde2; |
Mirjam | 2:840f7aa50e55 | 26 | |
Mirjam | 2:840f7aa50e55 | 27 | void ReadAnalogIn() |
Mirjam | 2:840f7aa50e55 | 28 | { |
Mirjam | 3:7421e53bf9bd | 29 | potwaarde1 = potwaarde1*2 -1; // Scale van -1 tot 1 ipv. 0 tot 1 |
Mirjam | 3:7421e53bf9bd | 30 | potwaarde2 = potwaarde2*2 -1; |
Mirjam | 2:840f7aa50e55 | 31 | scope.set(0,potwaarde1); // Zet de potwaarde in de eerste plot bij de HID scope. Deze wordt automatisch tegen de tijd geplot |
Mirjam | 2:840f7aa50e55 | 32 | scope.set(1,potwaarde2); |
Mirjam | 2:840f7aa50e55 | 33 | scope.send(); // Zendt de waardes naar de pc |
Mirjam | 2:840f7aa50e55 | 34 | } |
Mirjam | 2:840f7aa50e55 | 35 | |
Mirjam | 0:50c494034326 | 36 | int main(void) |
Mirjam | 0:50c494034326 | 37 | { |
Mirjam | 1:d6acc3c6261a | 38 | motor1_pwm.period_ms(60); // period is 60 ms |
Mirjam | 2:840f7aa50e55 | 39 | AInTicker.attach(&ReadAnalogIn,0.01f); //Elke 0.01 sec. Lees de analoge waarde |
Mirjam | 2:840f7aa50e55 | 40 | |
Mirjam | 0:50c494034326 | 41 | while(true){ |
Mirjam | 2:840f7aa50e55 | 42 | potwaarde1 = potmeter1.read(); // Lees de potwaardes uit |
Mirjam | 2:840f7aa50e55 | 43 | potwaarde2 = potmeter2.read(); |
Mirjam | 0:50c494034326 | 44 | |
Mirjam | 0:50c494034326 | 45 | } |
Mirjam | 0:50c494034326 | 46 | |
Mirjam | 0:50c494034326 | 47 | } |