Daiki Kato / Mbed 2 deprecated Motor_Control_using_lib

This program is controlling the motor using the PwmOutResetSync library.

Dependencies:   PwmOutResetSync mbed

main.cpp@2:55e672914b8b, 2016-08-31 (annotated)

Committer:
dkato
Date:
Wed Aug 31 13:12:41 2016 +0000
Revision:
2:55e672914b8b
Parent:
0:605ce817752d 
Using the PwmOutResetSync library.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
TetsuyaKonno 0:605ce817752d 1 //------------------------------------------------------------------//
TetsuyaKonno 0:605ce817752d 2 //Supported MCU: RZ/A1H
dkato 2:55e672914b8b 3 //File Contents: Motor Control using PwmOutResetSync.lib (GR-PEACH version on the Micon Car)
TetsuyaKonno 0:605ce817752d 4 //Version number: Ver.1.00
dkato 2:55e672914b8b 5 //Date: 2016.08.31
TetsuyaKonno 0:605ce817752d 6 //Copyright: Renesas Electronics Corporation
TetsuyaKonno 0:605ce817752d 7 //------------------------------------------------------------------//
TetsuyaKonno 0:605ce817752d 8
TetsuyaKonno 0:605ce817752d 9 //This program supports the following boards:
TetsuyaKonno 0:605ce817752d 10 //* GR-PEACH(E version)
TetsuyaKonno 0:605ce817752d 11 //* Motor drive board Ver.5
TetsuyaKonno 0:605ce817752d 12 //* Camera module (SC-310)
TetsuyaKonno 0:605ce817752d 13
TetsuyaKonno 0:605ce817752d 14 //Include
TetsuyaKonno 0:605ce817752d 15 //------------------------------------------------------------------//
TetsuyaKonno 0:605ce817752d 16 #include "mbed.h"
dkato 2:55e672914b8b 17 #include "PwmOutResetSync.h"
TetsuyaKonno 0:605ce817752d 18
TetsuyaKonno 0:605ce817752d 19 //Define
TetsuyaKonno 0:605ce817752d 20 //------------------------------------------------------------------//
TetsuyaKonno 0:605ce817752d 21 //Motor speed
TetsuyaKonno 0:605ce817752d 22 #define MAX_SPEED 85 /* motor() set: 0 to 100 */
TetsuyaKonno 0:605ce817752d 23
TetsuyaKonno 0:605ce817752d 24 //Constructor
TetsuyaKonno 0:605ce817752d 25 //------------------------------------------------------------------//
TetsuyaKonno 0:605ce817752d 26 DigitalOut Left_motor_signal(P4_6);
TetsuyaKonno 0:605ce817752d 27 DigitalOut Right_motor_signal(P4_7);
dkato 2:55e672914b8b 28 PwmOutResetSync pwm_l(P4_4);
dkato 2:55e672914b8b 29 PwmOutResetSync pwm_r(P4_5);
TetsuyaKonno 0:605ce817752d 30
TetsuyaKonno 0:605ce817752d 31 //Prototype
TetsuyaKonno 0:605ce817752d 32 //------------------------------------------------------------------//
TetsuyaKonno 0:605ce817752d 33 void motor( int accele_l, int accele_r );
TetsuyaKonno 0:605ce817752d 34
TetsuyaKonno 0:605ce817752d 35 //Main
TetsuyaKonno 0:605ce817752d 36 //------------------------------------------------------------------//
TetsuyaKonno 0:605ce817752d 37 int main( void )
TetsuyaKonno 0:605ce817752d 38 {
dkato 2:55e672914b8b 39 PwmOutResetSync::period_ms(1); /* Other notation: "pwm_l.period_ms(1);" or "pwm_r.period_ms(1);" */
TetsuyaKonno 0:605ce817752d 40
TetsuyaKonno 0:605ce817752d 41 while(1) {
TetsuyaKonno 0:605ce817752d 42 motor( 100, 0 );
dkato 2:55e672914b8b 43 wait_ms( 1000 );
TetsuyaKonno 0:605ce817752d 44 motor( 0, 80 );
dkato 2:55e672914b8b 45 wait_ms( 1000 );
TetsuyaKonno 0:605ce817752d 46 motor( -60, 0 );
dkato 2:55e672914b8b 47 wait_ms( 1000 );
TetsuyaKonno 0:605ce817752d 48 motor( 0, -40 );
dkato 2:55e672914b8b 49 wait_ms( 1000 );
TetsuyaKonno 0:605ce817752d 50 motor( 0, 0 );
dkato 2:55e672914b8b 51 wait_ms( 1000 );
TetsuyaKonno 0:605ce817752d 52 }
TetsuyaKonno 0:605ce817752d 53 }
TetsuyaKonno 0:605ce817752d 54
TetsuyaKonno 0:605ce817752d 55 //motor speed control(PWM)
TetsuyaKonno 0:605ce817752d 56 //Arguments: motor:-100 to 100
TetsuyaKonno 0:605ce817752d 57 //Here, 0 is stop, 100 is forward, -100 is reverse
TetsuyaKonno 0:605ce817752d 58 //------------------------------------------------------------------//
TetsuyaKonno 0:605ce817752d 59 void motor( int accele_l, int accele_r )
TetsuyaKonno 0:605ce817752d 60 {
TetsuyaKonno 0:605ce817752d 61 accele_l = ( accele_l * MAX_SPEED ) / 100;
TetsuyaKonno 0:605ce817752d 62 accele_r = ( accele_r * MAX_SPEED ) / 100;
TetsuyaKonno 0:605ce817752d 63
TetsuyaKonno 0:605ce817752d 64 /* Left Motor Control */
TetsuyaKonno 0:605ce817752d 65 if( accele_l >= 0 ) {
TetsuyaKonno 0:605ce817752d 66 /* forward */
TetsuyaKonno 0:605ce817752d 67 Left_motor_signal = 0;
dkato 2:55e672914b8b 68 pwm_l.write((float)accele_l / 100); /* Other notation: "pwm_l = (float)accele_l / 100;" */
TetsuyaKonno 0:605ce817752d 69 } else {
TetsuyaKonno 0:605ce817752d 70 /* reverse */
TetsuyaKonno 0:605ce817752d 71 Left_motor_signal = 1;
dkato 2:55e672914b8b 72 pwm_l.write((float)(-accele_l) / 100); /* Other notation: "pwm_l = (float)(-accele_l) / 100;" */
TetsuyaKonno 0:605ce817752d 73 }
TetsuyaKonno 0:605ce817752d 74
TetsuyaKonno 0:605ce817752d 75 /* Right Motor Control */
TetsuyaKonno 0:605ce817752d 76 if( accele_r >= 0 ) {
TetsuyaKonno 0:605ce817752d 77 /* forward */
TetsuyaKonno 0:605ce817752d 78 Right_motor_signal = 0;
dkato 2:55e672914b8b 79 pwm_r.write((float)accele_r / 100); /* Other notation: "pwm_r = (float)accele_r / 100;" */
TetsuyaKonno 0:605ce817752d 80 } else {
TetsuyaKonno 0:605ce817752d 81 /* reverse */
TetsuyaKonno 0:605ce817752d 82 Right_motor_signal = 1;
dkato 2:55e672914b8b 83 pwm_r.write((float)(-accele_r) / 100); /* Other notation: "pwm_r = (float)(-accele_r) / 100;" */
TetsuyaKonno 0:605ce817752d 84 }
TetsuyaKonno 0:605ce817752d 85 }
TetsuyaKonno 0:605ce817752d 86
TetsuyaKonno 0:605ce817752d 87 //------------------------------------------------------------------//
TetsuyaKonno 0:605ce817752d 88 // End of file
dkato 2:55e672914b8b 89 //------------------------------------------------------------------//