Arun Raveenthiran
Move motor back to initial position after it has been moved
Dependencies: Encoder HIDScope QEI mbed
Revision 0:65ab9f79a4cc, committed 2015-10-19
- Comitter:
- arunr
- Date:
- Mon Oct 19 09:31:16 2015 +0000
- Commit message:
- Home position;
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Encoder.lib Mon Oct 19 09:31:16 2015 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/users/vsluiter/code/Encoder/#18b000b443af
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/HIDScope.lib Mon Oct 19 09:31:16 2015 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/users/tomlankhorst/code/HIDScope/#5020a2c0934b
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/QEI.lib Mon Oct 19 09:31:16 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/aberk/code/QEI/#5c2ad81551aa
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Mon Oct 19 09:31:16 2015 +0000
@@ -0,0 +1,78 @@
+#include "mbed.h"
+#include "encoder.h"
+#include "HIDScope.h"
+
+DigitalOut motor1_direction(D4);
+PwmOut motor1_speed(D5);
+PwmOut led(D9);
+DigitalIn button_1(PTC6); //counterclockwise
+DigitalIn button_2(PTA4); //clockwise
+Encoder motor1(D12,D13);
+HIDScope scope(1);
+
+
+const int pressed = 0;
+
+double H;
+double P;
+double D;
+
+
+void sethome(){
+ motor1.setPosition(0);
+ H = motor1.getPosition();
+}
+
+void move_motor1_ccw (){
+ motor1_direction = 0;
+ motor1_speed = 0.8;
+}
+
+void move_motor1_cw (){
+ motor1_direction = 1;
+ motor1_speed = 0.8;
+}
+
+void movetohome(){
+ P = motor1.getPosition();
+ D = (P - H);
+
+ if (D == 0){
+ motor1_speed = 0;
+ }
+ else if (D > 0){
+ move_motor1_cw();
+ }
+ else if (D < 0){
+ move_motor1_ccw();
+ }
+}
+
+void move_motor1()
+{
+ if (button_1 == pressed) {
+ move_motor1_cw ();
+ }
+ else if (button_2 == pressed) {
+ move_motor1_ccw ();
+ }
+ else movetohome();
+}
+
+void read_encoder1 () // aflezen van encoder via hidscope??
+{
+ scope.set(0,motor1.getPosition());
+ led.write(motor1.getPosition()/100.0);
+ scope.send();
+ wait(0.2f);
+}
+
+int main()
+{
+
+ sethome();
+ while (true) {
+ read_encoder1();
+ move_motor1();
+ }
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Mon Oct 19 09:31:16 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/34e6b704fe68 \ No newline at end of file