Diff: main.cpp

Revision:

0:8ed926c84e2f

Child:

1:9e727d54e80c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Nov 28 14:53:46 2018 +0000
@@ -0,0 +1,109 @@
+/*
+  Test for manual control thread
+  Spektrum receiver simple test
+
+  range on transmitter is 344-1564
+  to correspond to rudder angle of 90-270
+  current eqn to convert RC output is
+
+            (IN/6.77)+39.19
+
+  NB: The specification for Spektrum Remote Receiver Interfacing,
+  rev A, 12 Apr 2016, has a note about servo position ranges:
+  "A full range of servo position data ranges from 0-1024 or 0-2045 depending
+  on the bind type. These limits are equivalent to a +/-150% travel setting
+  in AirWare. This full range translates to a range of 1194us which when
+  applied to a pwm servo signal equals 903-2097us. At +/-100% travel, the
+  data range is equivalent to a servo position data range of approximately
+  341 to 1707 which translated to pwm equals 1102 us to 1898 us."
+*/
+
+#include "mbed.h"
+//#include "rtos.h"
+#include "Spektrum.h"
+#include "unity.h"
+//****RC control universal variables****
+Serial pc(USBTX, USBRX, 115200);
+Spektrum rx(p13, p14);
+char c;
+int i;
+int j;
+float now;
+//***Stepper Motor universal variables***
+AnalogIn   ain(p18);
+PwmOut  motor( p22 );
+DigitalOut   dir( p21 );
+DigitalOut    I(p23);
+DigitalOut slp(p30); //sleep
+float d_ang = 180.0;
+float pos = 180.0;
+float RC_O;
+
+//**get position**
+float posi(float in);
+
+
+int main(void)
+{
+
+    I=0;
+    motor.period(.001);
+    motor.pulsewidth(0);
+    // loop
+    while(1) {
+        //now = rtos::Kernel::get_ms_count();
+        //***JUST ADDED stepper code
+
+        if (rx.valid) {
+            RC_O = rx.channel[0];
+            pc.printf(" rc: %f\n",rx.channel[0]);
+        } else {
+            pc.printf(" invalid\r\n");
+            slp = 0;
+        }
+        //39.19
+        d_ang = (RC_O/6.77)+39.19;
+
+        pos = (ain-.108)/.002466;
+        //pc.printf(" %.3f\n",);
+        if((pos > (d_ang-3.0)) && (pos < (d_ang+3.0))) {
+            motor.pulsewidth(0);
+            slp = 0;
+        }
+        if( (pos > (d_ang+3.0)) && pos < 270.0) {
+            slp = 1;
+            while(pos > d_ang) {
+                dir = 1; //left??
+                motor.pulsewidth(.0005);
+                pc.printf("pos: %.3f\n",pos);
+                pos = posi(ain);
+            }//while pos
+            motor.pulsewidth(0);
+        }//if pos
+        if((pos < (d_ang-3.0)) && pos > 90.0) {
+            slp = 1;
+            while(pos < d_ang) {
+                dir = 0; //right??
+                motor.pulsewidth(.0005);
+                pc.printf("pos: %.3f\n",pos);
+                pos = posi(ain);
+            }//while pos
+            motor.pulsewidth(0);
+        }
+        //***END OF JUST ADDED
+        ThisThread::sleep_until(121);
+    }//while(1)
+} // main() for TESTS/receiver/simple
+
+
+
+float posi(float in)
+{
+    float p1;
+    float p2;
+    float p3;
+    p1 = (ain-.108)/.002466;
+    p2 = (ain-.108)/.002466;
+    p3 = (ain-.108)/.002466;
+    return (p1+p2+p3)/3.0;
+}