Chawisorn samrit
test 03/05/2019
Dependencies: mbed QEI StepperTB TEST001
Revision 0:d97ede1e24bc, committed 2019-03-05
- Comitter:
- csggreen
- Date:
- Tue Mar 05 12:53:08 2019 +0000
- Child:
- 1:d7aa1591fbc2
- Commit message:
- TEAT LOW
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/AX12.lib Tue Mar 05 12:53:08 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/chris/code/AX12/#e30defb9581f
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Get_Control.h Tue Mar 05 12:53:08 2019 +0000
@@ -0,0 +1,80 @@
+#include "mbed.h"
+#include "AX12.h"
+#include "StepperTB.h"
+#include "QEI.h"
+
+Serial pc(PA_9, PB_6);
+AX12 myax12 (PA_11, PA_12, 1);
+
+//motor set 1
+DigitalOut ENA_1(PC_8);
+PwmOut DIR_1(PC_6);
+DigitalOut PUL_1(PC_5);
+
+//motor set 2
+DigitalOut ENA_2(PB_2);
+PwmOut DIR_2(PB_1);
+DigitalOut PUL_2(PB_15);
+
+//motor set 3
+DigitalOut ENA_3(PC_14);
+PwmOut DIR_3(PC_13);
+DigitalOut PUL_3(PC_4);
+
+//Buzzer
+DigitalOut Buzzer(PB_12);
+
+//Vacum
+DigitalOut VACUM(PA_3);
+
+//Limit Switch
+DigitalOut LSwitch_1(PA_2);
+DigitalOut LSwitch_2(PA_10);
+DigitalOut LSwitch_3(PB_3);
+DigitalOut LSwitch_4(PB_4);
+DigitalOut LSwitch_5(PB_5);
+DigitalOut LSwitch_6(PB_10);
+
+
+//Encoder interrupt
+QEI EncoderCH_1 (PC_0, PC_1, NC, 624);
+QEI EncoderCH_2 (PB_0, PA_4, NC, 624);
+QEI EncoderCH_3 (PA_1, PA_0, NC, 624);
+
+////////////////////////////////////////////////////////
+//////////// parameter_drive /////////////
+////////////////////////////////////////////////////////
+long time_corexy = 0;
+long long time_z=0;
+long counter1=0; /// counter of encoder in each motor
+long counter2=0;
+long counter3=0;
+long CS1 =0;
+long CS2 =0;
+
+char direct_motor1=0; /// direct_motor=0 ---> count ++ ,direct_motor=1 ---> count --
+char direct_motor2=0;
+char direct_motor3=0;
+
+int drive_axis = 0 ; /// drive_axis = 0 --> drive motor1 joint 1
+ /// drive_axis = 1 --> drive motor2 joint 2
+ /// drive_axis = 2 --> drive motor3 joint 3
+
+
+float u_j1,u_j2,u_j3 ;
+///////////////// /////////////////
+///////////////// set_ZERO /////////////////
+///////////////// /////////////////
+void setzero_posi(){
+ }
+
+///////////////// /////////////////
+///////////////// drive_motor /////////////////
+///////////////// /////////////////
+void drive_motor_1(long u_j1){
+ }
+void drive_motor_2(long u_j2){
+ }
+void drive_motor_3(long u_j3){
+ }
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/QEI.lib Tue Mar 05 12:53:08 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/aberk/code/QEI/#5c2ad81551aa
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/StepperTB.lib Tue Mar 05 12:53:08 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/teams/Dagozilla-to-RoboCup/code/StepperTB/#787cee5a8dad
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Tue Mar 05 12:53:08 2019 +0000
@@ -0,0 +1,8 @@
+#include "mbed.h"
+#include "Get_Control.h"
+
+int main() {
+ while(1) {
+ drive_motor_1(200);
+ }
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Tue Mar 05 12:53:08 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/3a7713b1edbc \ No newline at end of file