Motor_Control_EMG
Dependencies: HIDScope MODSERIAL QEI Servo biquadFilter mbed
Fork of Motor_Control_buttons by
main.cpp@8:9c58ca13076e, 2016-10-10 (annotated)
- Committer:
- huismaja
- Date:
- Mon Oct 10 12:09:49 2016 +0000
- Revision:
- 8:9c58ca13076e
- Parent:
- 7:9a3809a9ab3e
- Child:
- 9:cca4d4084775
Working script with variable speed for the DC-motors
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
huismaja | 0:6c8444d06e97 | 1 | #include "mbed.h" |
huismaja | 4:84bd5ead83f9 | 2 | #include "MODSERIAL.h" |
huismaja | 4:84bd5ead83f9 | 3 | #include "Servo.h" |
huismaja | 0:6c8444d06e97 | 4 | |
huismaja | 8:9c58ca13076e | 5 | DigitalIn Encoder_M1A(D9); |
huismaja | 8:9c58ca13076e | 6 | DigitalIn Encoder_M1B(D10); |
huismaja | 8:9c58ca13076e | 7 | DigitalIn Encoder_M2A(D11); |
huismaja | 8:9c58ca13076e | 8 | DigitalIn Encoder_M2B(D12); |
huismaja | 6:98121d2d76a6 | 9 | |
huismaja | 5:9b5edadc023b | 10 | DigitalOut Direction_M1(D4); //To control the rotation direction of the arm |
huismaja | 6:98121d2d76a6 | 11 | PwmOut Speed_M1(D5); //To control the rotation speed of the arm |
huismaja | 6:98121d2d76a6 | 12 | PwmOut Speed_M2(D6); //To control the translation direction of the arm |
huismaja | 5:9b5edadc023b | 13 | DigitalOut Direction_M2(D7); //To control the translation speed of the arm |
huismaja | 1:0d55a4bf2269 | 14 | |
huismaja | 7:9a3809a9ab3e | 15 | Servo gripper_servo(D13); //To control the gripper (Note: D8=PTC12) |
huismaja | 0:6c8444d06e97 | 16 | |
huismaja | 7:9a3809a9ab3e | 17 | InterruptIn Switch_1(SW2); //To control the rotation to the left |
huismaja | 7:9a3809a9ab3e | 18 | InterruptIn Switch_2(SW3); //To control the rotation to the right |
huismaja | 7:9a3809a9ab3e | 19 | InterruptIn Switch_3(D2); //To control the translation of the arm |
huismaja | 7:9a3809a9ab3e | 20 | InterruptIn Switch_4(D3); //To control the gripper |
huismaja | 2:b20570f160c6 | 21 | |
huismaja | 5:9b5edadc023b | 22 | int counter_rotation_left=0; //To count the number of times the rotation_left switch (switch_1) has been pushed |
huismaja | 5:9b5edadc023b | 23 | int counter_rotation_right=0; //To count the number of times the rotation_right switch (switch_2) has been pushed |
huismaja | 5:9b5edadc023b | 24 | int counter_translation=0; //To count the number of times the translation switch (switch_3) has been pushed |
huismaja | 5:9b5edadc023b | 25 | int counter_gripper=0; //To count the number of times the gripper switch (switch_4) has been pushed |
huismaja | 5:9b5edadc023b | 26 | |
huismaja | 5:9b5edadc023b | 27 | MODSERIAL pc(USBTX, USBRX); //To make connection with the PC |
huismaja | 0:6c8444d06e97 | 28 | |
huismaja | 8:9c58ca13076e | 29 | const double pi = 3.1415926535897; |
huismaja | 8:9c58ca13076e | 30 | double speed_rotation=pi/5; //in rad/sec |
huismaja | 8:9c58ca13076e | 31 | double speed_translation=pi/5; //in rad/sec |
huismaja | 8:9c58ca13076e | 32 | double speedM1=speed_rotation/8.4; |
huismaja | 8:9c58ca13076e | 33 | double speedM2=speed_translation/8.4; |
huismaja | 6:98121d2d76a6 | 34 | |
huismaja | 3:0a4bfcb3f339 | 35 | void rotation_left (){ |
huismaja | 3:0a4bfcb3f339 | 36 | switch (counter_rotation_left){ |
huismaja | 5:9b5edadc023b | 37 | case 1: //For activating the rotation to the left |
huismaja | 5:9b5edadc023b | 38 | Direction_M1 = 1; //The arm will rotate to the left |
huismaja | 8:9c58ca13076e | 39 | Speed_M1 = speedM1; //The motor is turned on at speed_rotation rad/sec |
huismaja | 8:9c58ca13076e | 40 | pc.printf("The arm will now rotate to the left with %f rad/sec \n", speedM1); |
huismaja | 3:0a4bfcb3f339 | 41 | wait(0.5f); |
huismaja | 3:0a4bfcb3f339 | 42 | break; |
huismaja | 5:9b5edadc023b | 43 | case 2: //For stopping the rotation to the left |
huismaja | 5:9b5edadc023b | 44 | Direction_M1 = 1; //The arm will rotate to the left |
huismaja | 5:9b5edadc023b | 45 | Speed_M1 = 0; //The motor is turned off |
huismaja | 5:9b5edadc023b | 46 | pc.printf("The arm will now stop rotating to the left \n"); |
huismaja | 3:0a4bfcb3f339 | 47 | wait(0.5f); |
huismaja | 3:0a4bfcb3f339 | 48 | break; |
huismaja | 3:0a4bfcb3f339 | 49 | } |
huismaja | 3:0a4bfcb3f339 | 50 | } |
huismaja | 3:0a4bfcb3f339 | 51 | |
huismaja | 5:9b5edadc023b | 52 | void switch_counter_rotation_left (){ //To count the number of times the rotation_left switch (switch_1) has been pushed |
huismaja | 3:0a4bfcb3f339 | 53 | counter_rotation_left++; |
huismaja | 3:0a4bfcb3f339 | 54 | if (counter_rotation_left > 2){ |
huismaja | 3:0a4bfcb3f339 | 55 | counter_rotation_left=1; |
huismaja | 3:0a4bfcb3f339 | 56 | } |
huismaja | 3:0a4bfcb3f339 | 57 | rotation_left(); |
huismaja | 3:0a4bfcb3f339 | 58 | } |
huismaja | 3:0a4bfcb3f339 | 59 | |
huismaja | 3:0a4bfcb3f339 | 60 | void rotation_right (){ |
huismaja | 3:0a4bfcb3f339 | 61 | switch (counter_rotation_right){ |
huismaja | 5:9b5edadc023b | 62 | case 1: //For activation the rotation to the right |
huismaja | 5:9b5edadc023b | 63 | Direction_M1 = 0; //The arm will rotate to the right |
huismaja | 8:9c58ca13076e | 64 | Speed_M1 = speedM1; //The motor is turned on at speed_rotation rad/sec |
huismaja | 8:9c58ca13076e | 65 | pc.printf("The arm will now rotate to the right with %f rad/sec \n", speedM1); |
huismaja | 3:0a4bfcb3f339 | 66 | wait(0.5f); |
huismaja | 3:0a4bfcb3f339 | 67 | break; |
huismaja | 5:9b5edadc023b | 68 | case 2: //For stopping the rotation to the right |
huismaja | 5:9b5edadc023b | 69 | Direction_M1 = 0; //The arm will rotate to the right |
huismaja | 5:9b5edadc023b | 70 | Speed_M1 = 0; //The motor is turned off |
huismaja | 5:9b5edadc023b | 71 | pc.printf("The arm will now stop rotating to the right \n"); |
huismaja | 3:0a4bfcb3f339 | 72 | wait(0.5f); |
huismaja | 3:0a4bfcb3f339 | 73 | break; |
huismaja | 3:0a4bfcb3f339 | 74 | } |
huismaja | 3:0a4bfcb3f339 | 75 | } |
huismaja | 3:0a4bfcb3f339 | 76 | |
huismaja | 5:9b5edadc023b | 77 | void switch_counter_rotation_right (){ //To count the number of times the rotation_right switch (switch_2) has been pushed |
huismaja | 3:0a4bfcb3f339 | 78 | counter_rotation_right++; |
huismaja | 3:0a4bfcb3f339 | 79 | if (counter_rotation_right> 2){ |
huismaja | 3:0a4bfcb3f339 | 80 | counter_rotation_right=1; |
huismaja | 3:0a4bfcb3f339 | 81 | } |
huismaja | 3:0a4bfcb3f339 | 82 | rotation_right(); |
huismaja | 3:0a4bfcb3f339 | 83 | } |
huismaja | 3:0a4bfcb3f339 | 84 | |
huismaja | 5:9b5edadc023b | 85 | void translation (){ |
huismaja | 5:9b5edadc023b | 86 | switch (counter_translation){ |
huismaja | 8:9c58ca13076e | 87 | case 1: //For activating the elongation of the arm |
huismaja | 8:9c58ca13076e | 88 | Direction_M2 = 1; //The arm will get longer |
huismaja | 8:9c58ca13076e | 89 | Speed_M2 = speedM2; //The motor is turned on at speed_rotation rad/sec |
huismaja | 5:9b5edadc023b | 90 | pc.printf("The arm will now get longer \n"); |
huismaja | 5:9b5edadc023b | 91 | wait(0.5f); |
huismaja | 5:9b5edadc023b | 92 | break; |
huismaja | 8:9c58ca13076e | 93 | case 2: //For stopping the elongation of the arm |
huismaja | 8:9c58ca13076e | 94 | Direction_M2 = 1; //The arm will get longer |
huismaja | 8:9c58ca13076e | 95 | Speed_M2 = 0; //The motor is turned off |
huismaja | 5:9b5edadc023b | 96 | pc.printf("The arm will now stop getting longer \n"); |
huismaja | 5:9b5edadc023b | 97 | wait(0.5f); |
huismaja | 5:9b5edadc023b | 98 | break; |
huismaja | 8:9c58ca13076e | 99 | case 3: //For activating the shortening of the arm |
huismaja | 8:9c58ca13076e | 100 | Direction_M2 = 0; //The arm will get shorter |
huismaja | 8:9c58ca13076e | 101 | Speed_M2 = speedM2; //The motor is turned on at speed_rotation rad/sec |
huismaja | 5:9b5edadc023b | 102 | pc.printf("The arm will now get shorter \n"); |
huismaja | 5:9b5edadc023b | 103 | wait(0.5f); |
huismaja | 5:9b5edadc023b | 104 | break; |
huismaja | 8:9c58ca13076e | 105 | case 4: //For stopping the shortening of the arm |
huismaja | 8:9c58ca13076e | 106 | Direction_M2 = 0; //The arm will get shorter |
huismaja | 8:9c58ca13076e | 107 | Speed_M2 = 0; //The motor is turned off |
huismaja | 5:9b5edadc023b | 108 | pc.printf("The arm will now stop getting shorter \n"); |
huismaja | 5:9b5edadc023b | 109 | wait(0.5f); |
huismaja | 5:9b5edadc023b | 110 | break; |
huismaja | 5:9b5edadc023b | 111 | } |
huismaja | 5:9b5edadc023b | 112 | } |
huismaja | 5:9b5edadc023b | 113 | |
huismaja | 5:9b5edadc023b | 114 | void switch_counter_translation (){ //To count the number of times the translation switch (switch_3) has been pushed |
huismaja | 5:9b5edadc023b | 115 | counter_translation++; |
huismaja | 5:9b5edadc023b | 116 | if (counter_translation > 4){ |
huismaja | 5:9b5edadc023b | 117 | counter_translation=1; |
huismaja | 5:9b5edadc023b | 118 | } |
huismaja | 5:9b5edadc023b | 119 | translation(); |
huismaja | 5:9b5edadc023b | 120 | } |
huismaja | 5:9b5edadc023b | 121 | |
huismaja | 4:84bd5ead83f9 | 122 | void gripper (){ |
huismaja | 4:84bd5ead83f9 | 123 | switch (counter_gripper){ |
huismaja | 4:84bd5ead83f9 | 124 | case 1: |
huismaja | 5:9b5edadc023b | 125 | gripper_servo = 0; //The gripper is now closed |
huismaja | 5:9b5edadc023b | 126 | pc.printf("The gripper will now close \n"); |
huismaja | 4:84bd5ead83f9 | 127 | wait(0.5f); |
huismaja | 4:84bd5ead83f9 | 128 | break; |
huismaja | 4:84bd5ead83f9 | 129 | case 2: |
huismaja | 5:9b5edadc023b | 130 | gripper_servo = 1; //The gripper is now open |
huismaja | 5:9b5edadc023b | 131 | pc.printf("The gripper will now open \n"); |
huismaja | 4:84bd5ead83f9 | 132 | wait(0.5f); |
huismaja | 4:84bd5ead83f9 | 133 | break; |
huismaja | 4:84bd5ead83f9 | 134 | } |
huismaja | 4:84bd5ead83f9 | 135 | } |
huismaja | 4:84bd5ead83f9 | 136 | |
huismaja | 5:9b5edadc023b | 137 | void switch_counter_gripper (){ //To count the number of times the gripper switch (switch_4) has been pushed |
huismaja | 4:84bd5ead83f9 | 138 | counter_gripper++; |
huismaja | 4:84bd5ead83f9 | 139 | if (counter_gripper> 2){ |
huismaja | 4:84bd5ead83f9 | 140 | counter_gripper=1; |
huismaja | 4:84bd5ead83f9 | 141 | } |
huismaja | 4:84bd5ead83f9 | 142 | gripper(); |
huismaja | 4:84bd5ead83f9 | 143 | } |
huismaja | 4:84bd5ead83f9 | 144 | |
huismaja | 0:6c8444d06e97 | 145 | int main(){ |
huismaja | 0:6c8444d06e97 | 146 | pc.baud(115200); |
huismaja | 0:6c8444d06e97 | 147 | pc.printf("RESET \n"); |
huismaja | 1:0d55a4bf2269 | 148 | |
huismaja | 5:9b5edadc023b | 149 | Direction_M1 = 1; //The arm will initially get longer |
huismaja | 5:9b5edadc023b | 150 | Speed_M1 = 0; //The first motor is initially turned off |
huismaja | 5:9b5edadc023b | 151 | Direction_M2 = 255; //The arm will initially turn left |
huismaja | 6:98121d2d76a6 | 152 | Speed_M2 = 0; //The second motor is initially turned off |
huismaja | 5:9b5edadc023b | 153 | gripper_servo = 1; //The gripper is initially open |
huismaja | 1:0d55a4bf2269 | 154 | |
huismaja | 5:9b5edadc023b | 155 | Switch_1.rise(&switch_counter_rotation_left); |
huismaja | 5:9b5edadc023b | 156 | Switch_2.rise(&switch_counter_rotation_right); |
huismaja | 5:9b5edadc023b | 157 | Switch_3.rise(&switch_counter_translation); |
huismaja | 5:9b5edadc023b | 158 | Switch_4.rise(&switch_counter_gripper); |
huismaja | 5:9b5edadc023b | 159 | |
huismaja | 5:9b5edadc023b | 160 | while (true); |
huismaja | 0:6c8444d06e97 | 161 | } |