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Dependents: 2019NHK_A_manual_red 2019NHK_A_manual_red 2019NHK_A_manual_blue
towelest.cpp@1:c6950f45b03c, 2019-09-04 (annotated)
- Committer:
- ec30109b
- Date:
- Wed Sep 04 05:14:18 2019 +0000
- Revision:
- 1:c6950f45b03c
- Parent:
- 0:0797b0e47e6d
- Child:
- 2:623fb33351af
This is new.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
ec30109b | 0:0797b0e47e6d | 1 | #include "towelest.h" |
ec30109b | 0:0797b0e47e6d | 2 | |
ec30109b | 1:c6950f45b03c | 3 | towelest::towelest(): |
ec30109b | 1:c6950f45b03c | 4 | serial(mdTX,mdRX,115200), |
ec30109b | 0:0797b0e47e6d | 5 | enc1(PA_6,PA_7,NC,100, QEI::X4_ENCODING), |
ec30109b | 0:0797b0e47e6d | 6 | pid(4.0, 0, 0.001, 0.01), |
ec30109b | 0:0797b0e47e6d | 7 | LimitSW1(PB_5), |
ec30109b | 1:c6950f45b03c | 8 | LimitSW2(PB_4) |
ec30109b | 0:0797b0e47e6d | 9 | { |
ec30109b | 1:c6950f45b03c | 10 | Motor[0] = new ikarashiMDC(2,0,SM,&serial); |
ec30109b | 1:c6950f45b03c | 11 | Motor[1] = new ikarashiMDC(2,1,SM,&serial); |
ec30109b | 1:c6950f45b03c | 12 | Motor[2] = new ikarashiMDC(2,2,SM,&serial); |
ec30109b | 0:0797b0e47e6d | 13 | |
ec30109b | 0:0797b0e47e6d | 14 | Motor[0]->braking = true; |
ec30109b | 0:0797b0e47e6d | 15 | Motor[1]->braking = true; |
ec30109b | 0:0797b0e47e6d | 16 | Motor[2]->braking = true; |
ec30109b | 0:0797b0e47e6d | 17 | |
ec30109b | 0:0797b0e47e6d | 18 | thread.start(callback(this, &towelest::loop)); |
ec30109b | 0:0797b0e47e6d | 19 | |
ec30109b | 0:0797b0e47e6d | 20 | pid.setInputLimits(-1800, 1800); |
ec30109b | 0:0797b0e47e6d | 21 | pid.setOutputLimits(-0.6,0.6); |
ec30109b | 0:0797b0e47e6d | 22 | pid.setBias(0.0); |
ec30109b | 0:0797b0e47e6d | 23 | pid.setMode(AUTO_MODE); |
ec30109b | 0:0797b0e47e6d | 24 | pid.setSetPoint(0); |
ec30109b | 0:0797b0e47e6d | 25 | |
ec30109b | 0:0797b0e47e6d | 26 | } |
ec30109b | 0:0797b0e47e6d | 27 | |
ec30109b | 0:0797b0e47e6d | 28 | void towelest::open() |
ec30109b | 0:0797b0e47e6d | 29 | { |
ec30109b | 1:c6950f45b03c | 30 | if(LimitSW1.read() == 1){ |
ec30109b | 0:0797b0e47e6d | 31 | Motor[0]->setSpeed(0); |
ec30109b | 0:0797b0e47e6d | 32 | Motor[1]->setSpeed(0); |
ec30109b | 1:c6950f45b03c | 33 | }else if(LimitSW1.read() == 0){ |
ec30109b | 0:0797b0e47e6d | 34 | Motor[0]->setSpeed(-0.2); |
ec30109b | 0:0797b0e47e6d | 35 | Motor[1]->setSpeed(0); |
ec30109b | 0:0797b0e47e6d | 36 | } |
ec30109b | 0:0797b0e47e6d | 37 | } |
ec30109b | 0:0797b0e47e6d | 38 | |
ec30109b | 0:0797b0e47e6d | 39 | void towelest::lift() |
ec30109b | 0:0797b0e47e6d | 40 | { |
ec30109b | 0:0797b0e47e6d | 41 | if(LimitSW2.read() == 1) { |
ec30109b | 0:0797b0e47e6d | 42 | Motor[0]->setSpeed(0); |
ec30109b | 0:0797b0e47e6d | 43 | Motor[1]->setSpeed(0); |
ec30109b | 0:0797b0e47e6d | 44 | } else if(LimitSW2.read() == 0) { |
ec30109b | 0:0797b0e47e6d | 45 | Motor[0]->setSpeed(0); |
ec30109b | 0:0797b0e47e6d | 46 | Motor[1]->setSpeed(0.8); |
ec30109b | 0:0797b0e47e6d | 47 | } |
ec30109b | 0:0797b0e47e6d | 48 | } |
ec30109b | 0:0797b0e47e6d | 49 | |
ec30109b | 0:0797b0e47e6d | 50 | void towelest::drop() |
ec30109b | 0:0797b0e47e6d | 51 | { |
ec30109b | 0:0797b0e47e6d | 52 | timer.start(); |
ec30109b | 0:0797b0e47e6d | 53 | time = timer.read(); |
ec30109b | 1:c6950f45b03c | 54 | if(time <= 5) { |
ec30109b | 0:0797b0e47e6d | 55 | pid.setSetPoint(-800); |
ec30109b | 0:0797b0e47e6d | 56 | } else { |
ec30109b | 0:0797b0e47e6d | 57 | pid.setSetPoint(0); |
ec30109b | 0:0797b0e47e6d | 58 | timer.stop(); |
ec30109b | 0:0797b0e47e6d | 59 | timer.reset(); |
ec30109b | 0:0797b0e47e6d | 60 | } |
ec30109b | 0:0797b0e47e6d | 61 | } |
ec30109b | 0:0797b0e47e6d | 62 | |
ec30109b | 0:0797b0e47e6d | 63 | void towelest::loop() |
ec30109b | 0:0797b0e47e6d | 64 | { |
ec30109b | 1:c6950f45b03c | 65 | while(true){ |
ec30109b | 0:0797b0e47e6d | 66 | RotationDistance = (float)enc1.getPulses(); |
ec30109b | 0:0797b0e47e6d | 67 | pid.setProcessValue(RotationDistance); |
ec30109b | 0:0797b0e47e6d | 68 | compute = pid.compute(); |
ec30109b | 0:0797b0e47e6d | 69 | Motor[2]->setSpeed(compute); |
ec30109b | 0:0797b0e47e6d | 70 | Limit1 = LimitSW1.read(); |
ec30109b | 0:0797b0e47e6d | 71 | Limit2 = LimitSW2.read(); |
ec30109b | 1:c6950f45b03c | 72 | //pc.printf("%d %d %f \n\r",Limit1,Limit2,RotationDistance); |
ec30109b | 0:0797b0e47e6d | 73 | } |
ec30109b | 0:0797b0e47e6d | 74 | } |
ec30109b | 0:0797b0e47e6d | 75 |