Revision 5:75b5c24e36ad, committed 2018-12-24

Comitter:

coldplay

Date:

Mon Dec 24 03:46:36 2018 +0000

Parent:

4:4e7b392ed0aa

Commit message:

mit

Changed in this revision

--- a/QEI_lib.lib	Wed Mar 18 17:17:58 2015 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-http://mbed.org
\ No newline at end of file

--- a/main.cpp	Wed Mar 18 17:17:58 2015 +0000
+++ b/main.cpp	Mon Dec 24 03:46:36 2018 +0000
@@ -8,29 +8,28 @@
 
 Serial pc(USBTX, USBRX);
 
-AnalogIn p_pot (p15);
-AnalogIn d_pot (p16);
-AnalogIn a_pot (p17);
+//AnalogIn p_pot (p15);
+//AnalogIn d_pot (p16);
+//AnalogIn a_pot (p17);
 
-PwmOut Motor1(p21);             //Ouput pin to h-bridge 1
-PwmOut Motor2 (p22);            //Output pin to h-bridge 2
-AnalogIn Current (p20);         //Current sense pin
+PwmOut pwm(p21);             //Ouput pin to h-bridge 1
+DigitalOut INA(p19);
+DigitalOut INB(p20);
+AnalogIn Current (p18);         //Current sense pin
 
 int steps_per_rev = 1200; //Encoder CPR * gearbox ratio
 Timer timer;
 
 
 // Setup parameters
-float volt2amp = 3.3 / .525; //(0-3.3V input) * (voltage divider muiltiplier) / (.525 V/A)
+float volt2amp = 3.3 / .140; //(0-3.3V input) * (voltage divider muiltiplier) / (.525 V/A)
 float PWM_frequency = 20000.0;  // MC33926 h-bridge limited 20 kHz (.00005 seconds)
 
 //Use X4 encoding.
-QEI wheel(p13, p14, NC, steps_per_rev, QEI::X4_ENCODING);       //(encoder channel 1, encoder channel 2, index (n/a here), counts per revolution, mode (X4, X2))
-
+QEI wheel(p16, p17, NC, steps_per_rev, QEI::X4_ENCODING);       //(encoder channel 1, encoder channel 2, index (n/a here), counts per revolution, mode (X4, X2))
 
-float pulsesToRadians(float pulses) //Encoder steps to revolutions of output shaft in radians
-{
-    return ((pulses/steps_per_rev)*(2*pi));
+void update_position(void) {
+    );
 }
 
 float pulsesToDegrees(float pulses) //Encoder steps to revolutions of output shaft in degrees
@@ -56,30 +55,6 @@
 
 
 
-void pulse_motor(float pulse_time, float pulse_interval)  //Usefull for testing peak torque.
-                                                          //pulse_time = motor on time.  pulse_interval = motor off time
-{
-    timer.start();
-
-    while (timer.read() < pulse_time){
-      Motor1.write(1);
-      Motor2.write(0);
-      //Prints current draw to PC
-      printf("%F", (Current.read())*volt2amp);  //Arithmetic converts the analog input to Amps
-      printf("\n");
-    }
-
-    timer.stop();
-    timer.reset();
-
-    wait(pulse_time);
-
-    Motor1.write(0);
-    Motor2.write(0);
-
-    wait(pulse_interval);
-  }
-
 
 
 int main()