clifton pang / Mbed 2 deprecated Exp3_DCmotor_noQEI

Dependencies:   mbed QEI

main.cpp@0:6fee21a0a314, 2011-08-20 (annotated)

Committer:
crazycliffy
Date:
Sat Aug 20 17:53:11 2011 +0000
Revision:
0:6fee21a0a314

        

        
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#include "mbed.h"





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#include "QEI.h"





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// Initialize motor PWM signal period and pulsewidth





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PwmOut speed(p22);





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DigitalIn  SetSpeed(p20);





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Timer t;





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QEI encoder (p29, p30, NC, 18); //http://mbed.org/users/aberk/libraries/QEI/le4bkf,  //http://mbed.org/cookbook/QEI





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Serial pc(USBTX, USBRX); // tx, rx





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float avgrpm;





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int main() {





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// Initialize motor PWM signal period and pulsewidth  (Experimented to find these numbers)





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    //speed.period_us(100000);    //Set the PWM period, specified in micro-seconds (int), keeping the duty cycle the same.





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    //speed.pulsewidth_us(10000); //Set the PWM pulsewidth, specified in micro-seconds (int), keeping the period the same.





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// Start motor forward at 25% speed





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        int s; s = 25000;





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        //speed.pulsewidth_us(s);





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// Aquire set point from user





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        int DutyCycle;





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        while ( (DutyCycle < 25) || (DutyCycle > 100) ){     // Experimented to determine this range





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            pc.printf("Enter a desired duty cycle between 25%% and 90%% as an interger.\n\n");





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            pc.scanf("%i", &DutyCycle);





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        }





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        pc.printf("Duty cycle set to %i%%\n\n", DutyCycle);





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        s = (DutyCycle * 1000);   





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        //speed.pulsewidth_us(s);





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        wait(1);





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// Motor RPM average initialization and index





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        float rpm[5] = {0.0, 0.0, 0.0, 0.0, 0.0};





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        int i; i = 0;





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// Start program loop





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   while(1) {





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// Index and reset Motor Average Counter





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        if(i > 4) {





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           pc.printf("******Motor RPM %i= %f\n   AVGRPM  = %f\n\n", i, rpm[i], avgrpm);





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           i = 0;





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        }





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// Revolutions per minute





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        t.start();





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          encoder.reset();                             // requires 1_us to execute





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          wait_ms(100);                                // requires 9.062_ms to execute





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          int pulse10ms = encoder.getPulses();         // requires 3.152 ms to execute for small numbers of pulses (i.e. < 10,000





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        t.stop();  





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          pc.printf("Pulses Count is %i in %f ms\n", pulse10ms, t.read()*1000);    // requires 13.542 ms to excute (cp: number of pulses per clock timer ~100ms)





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          rpm[i] = (60*pulse10ms)/(2*18*t.read()); // cp: rev/minute = 60 sec/min / timeInsec * pulses / 2*18 in1Revolution





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          avgrpm = (rpm[0] + rpm[1] + rpm[2] + rpm[3] + rpm[4]) / 5 ;





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          pc.printf("Motor RPM %i= %f\n   AVGRPM  = %f\n\n", i, rpm[i], avgrpm);





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          ++i;





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        t.reset();





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          wait(1);





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/* Speed Control of Motor  ****(CHANGE TO LINE COMMENT TO ADD SPEED CONTROL)******





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// Build DC Motor Table and enter values into variables on the next line





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             /// cp: might need to interpoloate rpm20 //





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        int rpm20 = , rpm100 = , rpm60 = , rpm70 = , dcY = , rpmLimit = 250;





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        int SetSpeed; 





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        static int j = 1;





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        if(j > 0){





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            while ( (SetSpeed < rpm60) || (SetSpeed > rpm70) ){   





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                pc.printf("Enter a desired RPM between %i and %i as an interger.\n", rpm60, rpm70);





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                pc.scanf("%i", &SetSpeed);





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                pc.printf("RPM Set Point= %i rpm \n\n", SetSpeed);





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                DutyCycle = (80 * SetSpeed / (rpm100 - rpm20)) - dcY;   // y = m*x + b (linear motor curve





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                pc.printf("Approx Duty Cycle = %i us \n", DutyCycle);





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                s = (DutyCycle * 1000);





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                pc.printf("Inital Pulse Width = %i us \n\n", s);





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                wait(2);





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            }





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        }





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        j = 0;





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        if ( avgrpm < (SetSpeed - rpmLimit)) {





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            DutyCycle = (DutyCycle + 1);





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            s = (DutyCycle * 1000);





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            pc.printf("Increase Duty Cycle= %i%%\n", DutyCycle);





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            pc.printf("Pulse Width = %i us \n\n", s);





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            speed.pulsewidth_us(s);





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            }





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        else if ( avgrpm > (SetSpeed + rpmLimit)){





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            DutyCycle = (DutyCycle - 1);





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            s = (DutyCycle*1000);





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            pc.printf("Decrease Duty Cycle= %i%%\n", DutyCycle);





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            pc.printf("Pulse Width = %i us \n\n", s);





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            speed.pulsewidth_us(s);





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            }





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        else if ( (avgrpm > (SetSpeed - rpmLimit)) || (avgrpm < (SetSpeed + rpmLimit)) ) {





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            s = DutyCycle * 1000;





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            pc.printf("Stable Duty Cycle= %i%%\n", DutyCycle);





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            pc.printf("Pulse Width = %i us \n\n", s);





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            }





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        else





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    return 0;                                                                              





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*/ //****(CHANGE TO LINE COMMENT TO ADD SPEED CONTROL) 





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    }       





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}