Stephen Covrig
/
Motor Control via PyQt
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Revision 0:f2c6afc8e527, committed 2016-12-09
- Comitter:
- covrigs
- Date:
- Fri Dec 09 19:58:50 2016 +0000
- Commit message:
- For ECE 111, Lab 4. KL46Z receives serial data from a python GUI and controls a motor via an L293D.
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Motor.cpp Fri Dec 09 19:58:50 2016 +0000
@@ -0,0 +1,30 @@
+#include "mbed.h"
+#include "Motor.h"
+
+Motor::Motor(PinName Positive, PinName Negative): _positive(Positive), _negative(Negative){
+ _positive.period(0.03f); // .03 second period
+ _positive.write(0.25f); // initial duty cycle
+ _negative.period(0.03f); // .03 second period
+ _negative.write(0.25f); // initial duty cycle
+
+}
+
+
+void Motor::Spin(float move) {
+
+ if(move >= .51){ //direction and speed when percentage is above .51
+ _positive = (move-.5);
+ _negative = 0;
+ }
+
+ else if(move <= .49){ //direction and speed when percentae is below .49
+ _positive = 0;
+ _negative = (.5-move);
+ }
+
+ else if(move > .49 && move < .51){ //stop motor when precentage is about .50
+ _positive = 0;
+ _negative = 0;
+ }
+
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Motor.h Fri Dec 09 19:58:50 2016 +0000
@@ -0,0 +1,24 @@
+#include "mbed.h"
+
+#ifndef MBED_MOTOR_H
+#define MBED_MOTOR_H
+#define LEFT 1
+#define RIGHT 2
+
+
+class Motor {
+
+public:
+
+ Motor (PinName Positive, PinName Negative);
+
+
+ void Spin(float move);
+
+protected:
+ PwmOut _positive;
+ PwmOut _negative;
+};
+
+#endif
+
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Fri Dec 09 19:58:50 2016 +0000
@@ -0,0 +1,26 @@
+#include "mbed.h"
+#include "Motor.h"
+
+Serial pc(USBTX,USBRX); // Declare serial connection
+Motor my_motor(PTB1,PTB0); // Declare motor and motor pin addresses
+
+int main() {
+
+ pc.baud(9600);
+ int slidervalue = 64;
+ int readvalue = 0;
+
+
+ while (1) {
+
+
+ readvalue = int(pc.getc()); // reads the value from the serial port and stores it as "readvalue"
+
+ if (readvalue >=1 && readvalue <=127) { // checks to make sure "readvalue" is within a valid range
+ slidervalue = readvalue;
+ }
+
+ my_motor.Spin((float(slidervalue) - 1.0)/126.0); // turns "slidervalue" into a percentage and sends it to the motor's Spin function
+
+ }
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Fri Dec 09 19:58:50 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/9bcdf88f62b0 \ No newline at end of file