Chawisorn samrit / Mbed 2 deprecated Lowlevel_function

test 03/05/2019

Dependencies:   mbed QEI StepperTB TEST001

Get_Control.h@1:d7aa1591fbc2, 2019-03-05 (annotated)

Committer:
csggreen
Date:
Tue Mar 05 12:57:16 2019 +0000
Revision:
1:d7aa1591fbc2
Parent:
0:d97ede1e24bc 
green

Who changed what in which revision?

UserRevisionLine numberNew contents of line
csggreen 0:d97ede1e24bc 1 #include "mbed.h"
csggreen 0:d97ede1e24bc 2 #include "AX12.h"
csggreen 0:d97ede1e24bc 3 #include "StepperTB.h"
csggreen 0:d97ede1e24bc 4 #include "QEI.h"
csggreen 0:d97ede1e24bc 5
csggreen 0:d97ede1e24bc 6 Serial pc(PA_9, PB_6);
csggreen 0:d97ede1e24bc 7 AX12 myax12 (PA_11, PA_12, 1);
csggreen 0:d97ede1e24bc 8
csggreen 0:d97ede1e24bc 9 //motor set 1
csggreen 0:d97ede1e24bc 10 DigitalOut ENA_1(PC_8);
csggreen 0:d97ede1e24bc 11 PwmOut DIR_1(PC_6);
csggreen 0:d97ede1e24bc 12 DigitalOut PUL_1(PC_5);
csggreen 0:d97ede1e24bc 13
csggreen 0:d97ede1e24bc 14 //motor set 2
csggreen 0:d97ede1e24bc 15 DigitalOut ENA_2(PB_2);
csggreen 0:d97ede1e24bc 16 PwmOut DIR_2(PB_1);
csggreen 0:d97ede1e24bc 17 DigitalOut PUL_2(PB_15);
csggreen 0:d97ede1e24bc 18
csggreen 0:d97ede1e24bc 19 //motor set 3
csggreen 0:d97ede1e24bc 20 DigitalOut ENA_3(PC_14);
csggreen 0:d97ede1e24bc 21 PwmOut DIR_3(PC_13);
csggreen 0:d97ede1e24bc 22 DigitalOut PUL_3(PC_4);
csggreen 0:d97ede1e24bc 23
csggreen 0:d97ede1e24bc 24 //Buzzer
csggreen 0:d97ede1e24bc 25 DigitalOut Buzzer(PB_12);
csggreen 0:d97ede1e24bc 26
csggreen 0:d97ede1e24bc 27 //Vacum
csggreen 0:d97ede1e24bc 28 DigitalOut VACUM(PA_3);
csggreen 0:d97ede1e24bc 29
csggreen 0:d97ede1e24bc 30 //Limit Switch
csggreen 0:d97ede1e24bc 31 DigitalOut LSwitch_1(PA_2);
csggreen 0:d97ede1e24bc 32 DigitalOut LSwitch_2(PA_10);
csggreen 0:d97ede1e24bc 33 DigitalOut LSwitch_3(PB_3);
csggreen 0:d97ede1e24bc 34 DigitalOut LSwitch_4(PB_4);
csggreen 0:d97ede1e24bc 35 DigitalOut LSwitch_5(PB_5);
csggreen 0:d97ede1e24bc 36 DigitalOut LSwitch_6(PB_10);
csggreen 0:d97ede1e24bc 37
csggreen 0:d97ede1e24bc 38
csggreen 0:d97ede1e24bc 39 //Encoder interrupt
csggreen 1:d7aa1591fbc2 40 //QEI EncoderCH_1 (PC_0, PC_1, NC, 624);
csggreen 1:d7aa1591fbc2 41 //QEI EncoderCH_2 (PB_0, PA_4, NC, 624);
csggreen 1:d7aa1591fbc2 42 //QEI EncoderCH_3 (PA_1, PA_0, NC, 624);
csggreen 0:d97ede1e24bc 43
csggreen 0:d97ede1e24bc 44 ////////////////////////////////////////////////////////
csggreen 0:d97ede1e24bc 45 //////////// parameter_drive /////////////
csggreen 0:d97ede1e24bc 46 ////////////////////////////////////////////////////////
csggreen 0:d97ede1e24bc 47 long time_corexy = 0;
csggreen 0:d97ede1e24bc 48 long long time_z=0;
csggreen 0:d97ede1e24bc 49 long counter1=0; /// counter of encoder in each motor
csggreen 0:d97ede1e24bc 50 long counter2=0;
csggreen 0:d97ede1e24bc 51 long counter3=0;
csggreen 0:d97ede1e24bc 52 long CS1 =0;
csggreen 0:d97ede1e24bc 53 long CS2 =0;
csggreen 0:d97ede1e24bc 54
csggreen 0:d97ede1e24bc 55 char direct_motor1=0; /// direct_motor=0 ---> count ++ ,direct_motor=1 ---> count --
csggreen 0:d97ede1e24bc 56 char direct_motor2=0;
csggreen 0:d97ede1e24bc 57 char direct_motor3=0;
csggreen 0:d97ede1e24bc 58
csggreen 0:d97ede1e24bc 59 int drive_axis = 0 ; /// drive_axis = 0 --> drive motor1 joint 1
csggreen 0:d97ede1e24bc 60 /// drive_axis = 1 --> drive motor2 joint 2
csggreen 0:d97ede1e24bc 61 /// drive_axis = 2 --> drive motor3 joint 3
csggreen 0:d97ede1e24bc 62
csggreen 0:d97ede1e24bc 63
csggreen 0:d97ede1e24bc 64 float u_j1,u_j2,u_j3 ;
csggreen 0:d97ede1e24bc 65 ///////////////// /////////////////
csggreen 0:d97ede1e24bc 66 ///////////////// set_ZERO /////////////////
csggreen 0:d97ede1e24bc 67 ///////////////// /////////////////
csggreen 0:d97ede1e24bc 68 void setzero_posi(){
csggreen 0:d97ede1e24bc 69 }
csggreen 0:d97ede1e24bc 70
csggreen 0:d97ede1e24bc 71 ///////////////// /////////////////
csggreen 0:d97ede1e24bc 72 ///////////////// drive_motor /////////////////
csggreen 0:d97ede1e24bc 73 ///////////////// /////////////////
csggreen 0:d97ede1e24bc 74 void drive_motor_1(long u_j1){
csggreen 0:d97ede1e24bc 75 }
csggreen 0:d97ede1e24bc 76 void drive_motor_2(long u_j2){
csggreen 0:d97ede1e24bc 77 }
csggreen 0:d97ede1e24bc 78 void drive_motor_3(long u_j3){
csggreen 0:d97ede1e24bc 79 }
csggreen 0:d97ede1e24bc 80