Drew Robinson / Mbed 2 deprecated sailbot_RUDDERFINAL2

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Dependencies:   mbed

main.cpp@4:ece7bfb06944, 2018-11-28 (annotated)

Committer:
drewrobinson
Date:
Wed Nov 28 21:12:14 2018 +0000
Revision:
4:ece7bfb06944
Parent:
3:010fde11bfad 
ACTUAL FINAL RUDDER

Who changed what in which revision?

UserRevisionLine numberNew contents of line
LukeMar 0:8ed926c84e2f 1 /*
LukeMar 0:8ed926c84e2f 2 Test for manual control thread
LukeMar 0:8ed926c84e2f 3 Spektrum receiver simple test
LukeMar 0:8ed926c84e2f 4
LukeMar 0:8ed926c84e2f 5 range on transmitter is 344-1564
LukeMar 0:8ed926c84e2f 6 to correspond to rudder angle of 90-270
LukeMar 0:8ed926c84e2f 7 current eqn to convert RC output is
LukeMar 0:8ed926c84e2f 8
LukeMar 0:8ed926c84e2f 9 (IN/6.77)+39.19
LukeMar 0:8ed926c84e2f 10
LukeMar 0:8ed926c84e2f 11 NB: The specification for Spektrum Remote Receiver Interfacing,
LukeMar 0:8ed926c84e2f 12 rev A, 12 Apr 2016, has a note about servo position ranges:
LukeMar 0:8ed926c84e2f 13 "A full range of servo position data ranges from 0-1024 or 0-2045 depending
LukeMar 0:8ed926c84e2f 14 on the bind type. These limits are equivalent to a +/-150% travel setting
LukeMar 0:8ed926c84e2f 15 in AirWare. This full range translates to a range of 1194us which when
LukeMar 0:8ed926c84e2f 16 applied to a pwm servo signal equals 903-2097us. At +/-100% travel, the
LukeMar 0:8ed926c84e2f 17 data range is equivalent to a servo position data range of approximately
LukeMar 0:8ed926c84e2f 18 341 to 1707 which translated to pwm equals 1102 us to 1898 us."
LukeMar 0:8ed926c84e2f 19 */
LukeMar 0:8ed926c84e2f 20
LukeMar 0:8ed926c84e2f 21 #include "mbed.h"
LukeMar 0:8ed926c84e2f 22 //#include "rtos.h"
LukeMar 0:8ed926c84e2f 23 #include "Spektrum.h"
LukeMar 0:8ed926c84e2f 24 #include "unity.h"
LukeMar 0:8ed926c84e2f 25 //****RC control universal variables****
LukeMar 0:8ed926c84e2f 26 Serial pc(USBTX, USBRX, 115200);
LukeMar 0:8ed926c84e2f 27 Spektrum rx(p13, p14);
LukeMar 0:8ed926c84e2f 28 char c;
LukeMar 0:8ed926c84e2f 29 int i;
LukeMar 0:8ed926c84e2f 30 int j;
LukeMar 0:8ed926c84e2f 31 float now;
LukeMar 0:8ed926c84e2f 32 //***Stepper Motor universal variables***
LukeMar 1:9e727d54e80c 33 AnalogIn r_ain(p18);
LukeMar 1:9e727d54e80c 34 PwmOut rudder( p22 );
LukeMar 1:9e727d54e80c 35 DigitalOut r_dir( p21 );
LukeMar 1:9e727d54e80c 36 DigitalOut r_I(p23);
LukeMar 1:9e727d54e80c 37 DigitalOut r_slp(p30); //sleep
drewrobinson 3:010fde11bfad 38 DigitalOut slp(p29);
LukeMar 2:f5c2fa19497b 39 DigitalOut led(LED1);
LukeMar 2:f5c2fa19497b 40 float r_ang;
LukeMar 2:f5c2fa19497b 41 float r_pos;
LukeMar 1:9e727d54e80c 42 float RC_1;
LukeMar 0:8ed926c84e2f 43
LukeMar 0:8ed926c84e2f 44 //**get position**
LukeMar 1:9e727d54e80c 45 float posr();
LukeMar 0:8ed926c84e2f 46
LukeMar 0:8ed926c84e2f 47
LukeMar 0:8ed926c84e2f 48 int main(void)
LukeMar 0:8ed926c84e2f 49 {
LukeMar 2:f5c2fa19497b 50
drewrobinson 3:010fde11bfad 51 r_I=0; //sets for 1.5amp output
drewrobinson 3:010fde11bfad 52 rudder.period(.001); //sets the pulse width modulation period
drewrobinson 3:010fde11bfad 53 rudder.pulsewidth(0);
drewrobinson 3:010fde11bfad 54 slp = 0;
drewrobinson 3:010fde11bfad 55 r_slp = 0; //sstarts the current driver in off state
LukeMar 2:f5c2fa19497b 56 wait(10);
LukeMar 2:f5c2fa19497b 57 led = 1; //indicate that the wait period is over
LukeMar 2:f5c2fa19497b 58
LukeMar 0:8ed926c84e2f 59 // loop
LukeMar 0:8ed926c84e2f 60 while(1) {
LukeMar 0:8ed926c84e2f 61 //now = rtos::Kernel::get_ms_count();
LukeMar 0:8ed926c84e2f 62 //***JUST ADDED stepper code
LukeMar 0:8ed926c84e2f 63
LukeMar 0:8ed926c84e2f 64 if (rx.valid) {
LukeMar 2:f5c2fa19497b 65 RC_1 = rx.channel[1];
drewrobinson 3:010fde11bfad 66 //pc.printf(" rc: %f\n",rx.channel[0]);
LukeMar 0:8ed926c84e2f 67 } else {
drewrobinson 3:010fde11bfad 68 //pc.printf(" invalid\r\n");
LukeMar 1:9e727d54e80c 69 r_slp = 0;
LukeMar 0:8ed926c84e2f 70 }
LukeMar 0:8ed926c84e2f 71 //39.19
drewrobinson 3:010fde11bfad 72 r_ang = (RC_1/6.77)-5.0;
LukeMar 0:8ed926c84e2f 73
LukeMar 1:9e727d54e80c 74 r_pos = (r_ain-.108)/.002466;
drewrobinson 3:010fde11bfad 75 pc.printf(" %.3f\r\n",r_pos);
LukeMar 0:8ed926c84e2f 76 //pc.printf(" %.3f\n",);
LukeMar 1:9e727d54e80c 77 if((r_pos > (r_ang-3.0)) && (r_pos < (r_ang+3.0))) {
LukeMar 1:9e727d54e80c 78 rudder.pulsewidth(0);
LukeMar 1:9e727d54e80c 79 r_slp = 0;
LukeMar 0:8ed926c84e2f 80 }
drewrobinson 3:010fde11bfad 81 if( (r_pos > (r_ang+3.0)) && r_pos < 235.0) {
LukeMar 1:9e727d54e80c 82 r_slp = 1;
LukeMar 1:9e727d54e80c 83 r_dir = 1; //left??
LukeMar 1:9e727d54e80c 84 rudder.pulsewidth(.0005);
drewrobinson 3:010fde11bfad 85 //pc.printf("pos: %.3f\n",r_pos);
drewrobinson 4:ece7bfb06944 86 Thread::wait(10);
LukeMar 1:9e727d54e80c 87 r_pos = posr();
LukeMar 0:8ed926c84e2f 88 }//if pos
drewrobinson 3:010fde11bfad 89 if((r_pos < (r_ang-3.0)) && r_pos > 55.0) {
LukeMar 1:9e727d54e80c 90 r_slp = 1;
LukeMar 1:9e727d54e80c 91 r_dir = 0; //right??
LukeMar 1:9e727d54e80c 92 rudder.pulsewidth(.0005);
drewrobinson 3:010fde11bfad 93 //pc.printf("pos: %.3f\n",r_pos);
drewrobinson 4:ece7bfb06944 94 Thread::wait(10);
LukeMar 1:9e727d54e80c 95 r_pos = posr();
LukeMar 0:8ed926c84e2f 96 }
drewrobinson 3:010fde11bfad 97 if(r_pos > 210.0){
drewrobinson 3:010fde11bfad 98 r_slp = 1;
drewrobinson 3:010fde11bfad 99 while(r_pos > 210.0) {
drewrobinson 3:010fde11bfad 100 r_dir = 1; //right??
drewrobinson 3:010fde11bfad 101 rudder.pulsewidth(.0005);
drewrobinson 3:010fde11bfad 102 //pc.printf("pos: %.3f\n",r_pos);
drewrobinson 3:010fde11bfad 103 r_pos = posr();
drewrobinson 3:010fde11bfad 104 }//while
drewrobinson 3:010fde11bfad 105 }//if
drewrobinson 3:010fde11bfad 106 if(r_pos <80.0){
drewrobinson 3:010fde11bfad 107 r_slp = 1;
drewrobinson 3:010fde11bfad 108 while(r_pos < 80.0) {
drewrobinson 3:010fde11bfad 109 r_dir = 0; //right??
drewrobinson 3:010fde11bfad 110 rudder.pulsewidth(.0005);
drewrobinson 3:010fde11bfad 111 //pc.printf("pos: %.3f\n",r_pos);
drewrobinson 3:010fde11bfad 112 r_pos = posr();
drewrobinson 3:010fde11bfad 113 }//while
drewrobinson 3:010fde11bfad 114 }//if
drewrobinson 3:010fde11bfad 115
LukeMar 0:8ed926c84e2f 116 //***END OF JUST ADDED
LukeMar 0:8ed926c84e2f 117 ThisThread::sleep_until(121);
LukeMar 0:8ed926c84e2f 118 }//while(1)
LukeMar 0:8ed926c84e2f 119 } // main() for TESTS/receiver/simple
LukeMar 0:8ed926c84e2f 120
LukeMar 0:8ed926c84e2f 121
LukeMar 0:8ed926c84e2f 122
LukeMar 1:9e727d54e80c 123 float posr()
LukeMar 0:8ed926c84e2f 124 {
LukeMar 1:9e727d54e80c 125 float r1;
LukeMar 1:9e727d54e80c 126 float r2;
LukeMar 1:9e727d54e80c 127 float r3;
LukeMar 1:9e727d54e80c 128 r1 = (r_ain-.108)/.002466;
LukeMar 1:9e727d54e80c 129 r2 = (r_ain-.108)/.002466;
LukeMar 1:9e727d54e80c 130 r3 = (r_ain-.108)/.002466;
LukeMar 1:9e727d54e80c 131 return (r1+r2+r3)/3.0;
LukeMar 0:8ed926c84e2f 132 }