B M / Mbed OS final_project

final

Dependencies:   MatrixMath Matrix ExperimentServer QEI_pmw MotorShield

Files at this revision

API Documentation at this revision

Revision 6:1faceb53dabe, committed 2020-08-24

Comitter:
elijahsj
Date:
Mon Aug 24 20:19:13 2020 +0000
Parent:
5:1ab9b2527794
Child:
7:c31f30183ce1
Commit message:
Added motorshield ;

Changed in this revision

FastPWM.lib Show annotated file Show diff for this revision Revisions of this file
MotorShield.lib Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/FastPWM.lib	Mon Aug 24 20:19:13 2020 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/Sissors/code/FastPWM/#08e3f3230b7c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MotorShield.lib	Mon Aug 24 20:19:13 2020 +0000
@@ -0,0 +1,1 @@
+MotorShield#f2ede00aed8a

--- a/main.cpp	Fri Aug 21 22:13:19 2020 +0000
+++ b/main.cpp	Mon Aug 24 20:19:13 2020 +0000
@@ -3,6 +3,7 @@
 #include "EthernetInterface.h"
 #include "ExperimentServer.h"
 #include "QEI.h"
+#include "MotorShield.h" 
 
 #define NUM_INPUTS 2
 #define NUM_OUTPUTS 3
@@ -16,10 +17,23 @@
 QEI encoderC(PC_6, PC_7, NC, 1200, QEI::X4_ENCODING);  // MOTOR C ENCODER (no index, 1200 counts/rev, Quadrature encoding)
 QEI encoderD(PD_12, PD_13, NC, 1200, QEI::X4_ENCODING);// MOTOR D ENCODER (no index, 1200 counts/rev, Quadrature encoding)
 
+AnalogIn currentA(PF_12); //MOTOR A CURRENT SENSOR 
+AnalogIn currentB(PF_11); //MOTOR B CURRENT SENSOR 
+AnalogIn currentC(PF_13); //MOTOR C CURRENT SENSOR 
+AnalogIn currentD(PA_4);  //MOTOR D CURRENT SENSOR 
+
+MotorShield motorA(PE_5, PE_6);   //MOTOR A PWM 
+MotorShield motorB(PB_14, PB_15); //MOTOR B PWM 
+MotorShield motorC(PA_6, PF_9);   //MOTOR C PWM 
+MotorShield motorD(PF_6, PF_7);   //MOTOR D PWM
+
+//deprecate the following 
 PwmOut motorPWM(D5);        // Motor PWM output
 DigitalOut motorFwd(D6);    // Motor forward enable
 DigitalOut motorRev(D7);    // Motor backward enable
 
+
+
 int main (void)
 {
     // Link the terminal with our server and start it up
@@ -72,4 +86,5 @@
             motorPWM.write(0);
         } // end if
     } // end while
-} // end main
\ No newline at end of file
+} // end main
+