Janet Huisman / Mbed 2 deprecated Motor_Control_buttons

Script for controlling 2 DC-motors and a gripper-servo using buttons

Dependencies:   MODSERIAL QEI Servo mbed

main.cpp@12:35a81d6c6505, 2016-10-19 (annotated)

Committer:
huismaja
Date:
Wed Oct 19 11:54:55 2016 +0000
Revision:
12:35a81d6c6505
Parent:
11:b1ad5267a6bd
Child:
13:ea065d364277
Working script without limitations for the range of the motors

Who changed what in which revision?

UserRevisionLine numberNew 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 9:cca4d4084775 4 #include "QEI.h"
huismaja 0:6c8444d06e97 5
huismaja 10:cf579c3eaf01 6 QEI encoder_M1 (D9, D10, NC, 8400); //Define an encoder for motor 1 called encoder_M1
huismaja 10:cf579c3eaf01 7 QEI encoder_M2 (D11, D12, NC, 8400); //Define an encoder for motor 2 called encoder_M2
huismaja 9:cca4d4084775 8
huismaja 10:cf579c3eaf01 9 Ticker encoder_M1_ticker; //Create a ticker for reading the encoder data of encoder_M1
huismaja 10:cf579c3eaf01 10 Ticker encoder_M2_ticker; //Create a ticker for reading the encoder data of encoder_M2
huismaja 6:98121d2d76a6 11
huismaja 12:35a81d6c6505 12 DigitalOut Direction_M2(D4); //To control the rotation direction of the arm
huismaja 12:35a81d6c6505 13 PwmOut Speed_M2(D5); //To control the rotation speed of the arm
huismaja 12:35a81d6c6505 14 PwmOut Speed_M1(D6); //To control the translation direction of the arm
huismaja 12:35a81d6c6505 15 DigitalOut Direction_M1(D7); //To control the translation speed of the arm
huismaja 10:cf579c3eaf01 16 Servo gripper_servo(D13); //To control the gripper
huismaja 0:6c8444d06e97 17
huismaja 10:cf579c3eaf01 18 InterruptIn Switch_1(SW2); //Switch 1 to control the rotation to the left
huismaja 10:cf579c3eaf01 19 InterruptIn Switch_2(SW3); //Switch 2 to control the rotation to the right
huismaja 10:cf579c3eaf01 20 InterruptIn Switch_3(D2); //Switch 3 to control the translation of the arm
huismaja 10:cf579c3eaf01 21 InterruptIn Switch_4(D3); //Switch 4 to control the gripper
huismaja 2:b20570f160c6 22
huismaja 5:9b5edadc023b 23 int counter_rotation_left=0; //To count the number of times the rotation_left switch (switch_1) has been pushed
huismaja 5:9b5edadc023b 24 int counter_rotation_right=0; //To count the number of times the rotation_right switch (switch_2) has been pushed
huismaja 5:9b5edadc023b 25 int counter_translation=0; //To count the number of times the translation switch (switch_3) has been pushed
huismaja 5:9b5edadc023b 26 int counter_gripper=0; //To count the number of times the gripper switch (switch_4) has been pushed
huismaja 5:9b5edadc023b 27
huismaja 11:b1ad5267a6bd 28 volatile bool rotation_left_go = false; //Create a go-flag for the rotation_left and set it to false
huismaja 11:b1ad5267a6bd 29 volatile bool rotation_right_go = false; //Create a go-flag for the rotation_right and set it to false
huismaja 11:b1ad5267a6bd 30 volatile bool translation_go = false; //Create a go-flag for the translation and set it to false
huismaja 11:b1ad5267a6bd 31 volatile bool gripper_go = false; //Create a go-flag for the gripper and set it to false
huismaja 0:6c8444d06e97 32
huismaja 11:b1ad5267a6bd 33 MODSERIAL pc(USBTX, USBRX); //Make a connection with the PC
huismaja 11:b1ad5267a6bd 34
huismaja 11:b1ad5267a6bd 35 const double pi = 3.1415926535897; //Declare the value of pi
huismaja 9:cca4d4084775 36
huismaja 10:cf579c3eaf01 37 double speed_rotation=pi/5; //Set the rotation speed in rad/sec -> NOTE: this has to be below 8.4 rad/sec
huismaja 10:cf579c3eaf01 38 double speed_translation=pi/5; //Set the translation speed in rad/sec -> NOTE: this has to be below 8.4 rad/sec
huismaja 10:cf579c3eaf01 39 double speedM1=speed_rotation/8.4; //Map the rotation speed from (0-8.4) to (0-1) by dividing by 8.4
huismaja 10:cf579c3eaf01 40 double speedM2=speed_translation/8.4; //Map the translation speed from (0-8.4) to (0-1) by dividing by 8.4
huismaja 6:98121d2d76a6 41
huismaja 12:35a81d6c6505 42 float angle_M1=0;
huismaja 12:35a81d6c6505 43 float angle_M2=0;
huismaja 12:35a81d6c6505 44
huismaja 10:cf579c3eaf01 45 void read_position_M1(){ //Function to read the position of motor 1
huismaja 12:35a81d6c6505 46 int pulses_M1 = -encoder_M1.getPulses(); //Read the encoder data and store it in pulses_M1
huismaja 12:35a81d6c6505 47 angle_M1 = float(pulses_M1)/4200*2.0*pi; //Calculate the angle that corresponds with the measured encoder pulses
huismaja 12:35a81d6c6505 48 pc.printf("%i \t%f \t", pulses_M1, angle_M1);
huismaja 9:cca4d4084775 49 }
huismaja 9:cca4d4084775 50
huismaja 10:cf579c3eaf01 51 void read_position_M2(){ //Function to read the position of motor 2
huismaja 12:35a81d6c6505 52 int pulses_M2 = -encoder_M2.getPulses(); //Read the encoder data and store it in pulses_M2
huismaja 12:35a81d6c6505 53 angle_M2 = float(pulses_M2)/4200*2.0*pi; //Calculate the angle that corresponds with the measured encoder pulses
huismaja 12:35a81d6c6505 54 pc.printf("%i \t%f \n", pulses_M2, angle_M2);
huismaja 9:cca4d4084775 55 }
huismaja 9:cca4d4084775 56
huismaja 11:b1ad5267a6bd 57 void activate_rotation_left (){ //To activate the rotation_left
huismaja 11:b1ad5267a6bd 58 counter_rotation_left++; //Increase the counter_rotation_left that counts the number of time switch 1 has been pressed
huismaja 11:b1ad5267a6bd 59 if (counter_rotation_left > 2){ //Because there are only 2 cases in the switch statement, case 3 = case 1 etc.
huismaja 11:b1ad5267a6bd 60 counter_rotation_left=1;
huismaja 11:b1ad5267a6bd 61 }
huismaja 11:b1ad5267a6bd 62 rotation_left_go = true; //After increasing the counter, set the rotation_left go-flag to true
huismaja 11:b1ad5267a6bd 63 }
huismaja 11:b1ad5267a6bd 64
huismaja 10:cf579c3eaf01 65 void rotation_left (){ //Function to control the rotation to the left
huismaja 10:cf579c3eaf01 66 switch (counter_rotation_left){ //Create a switch statement
huismaja 10:cf579c3eaf01 67 case 1: //For activating the rotation to the left
huismaja 12:35a81d6c6505 68 Direction_M1 = 0; //The arm will rotate to the left
huismaja 10:cf579c3eaf01 69 Speed_M1 = speedM1; //The motor is turned on at speed_rotation rad/sec
huismaja 8:9c58ca13076e 70 pc.printf("The arm will now rotate to the left with %f rad/sec \n", speedM1);
huismaja 12:35a81d6c6505 71 wait(0.1f);
huismaja 3:0a4bfcb3f339 72 break;
huismaja 10:cf579c3eaf01 73 case 2: //For stopping the rotation to the left
huismaja 12:35a81d6c6505 74 Direction_M1 = 0; //The arm will rotate to the left
huismaja 10:cf579c3eaf01 75 Speed_M1 = 0; //The motor is turned off
huismaja 5:9b5edadc023b 76 pc.printf("The arm will now stop rotating to the left \n");
huismaja 12:35a81d6c6505 77 wait(0.1f);
huismaja 3:0a4bfcb3f339 78 break;
huismaja 3:0a4bfcb3f339 79 }
huismaja 11:b1ad5267a6bd 80 }
huismaja 3:0a4bfcb3f339 81
huismaja 11:b1ad5267a6bd 82 void activate_rotation_right (){ //To activate the rotation_right
huismaja 11:b1ad5267a6bd 83 counter_rotation_right++; //Increase the counter_rotation_right that counts the number of time switch 2 has been pressed
huismaja 11:b1ad5267a6bd 84 if (counter_rotation_right> 2){ //Because there are only 2 cases in the switch statement, case 3 = case 1
huismaja 11:b1ad5267a6bd 85 counter_rotation_right=1;
huismaja 3:0a4bfcb3f339 86 }
huismaja 11:b1ad5267a6bd 87 rotation_right_go = true; //After increasing the counter, set the rotation_right go-flag to true
huismaja 3:0a4bfcb3f339 88 }
huismaja 3:0a4bfcb3f339 89
huismaja 10:cf579c3eaf01 90 void rotation_right (){ //Function to control the rotation to the left
huismaja 10:cf579c3eaf01 91 switch (counter_rotation_right){ //Create a switch statement
huismaja 10:cf579c3eaf01 92 case 1: //For activation the rotation to the right
huismaja 12:35a81d6c6505 93 Direction_M1 = 1; //The arm will rotate to the right
huismaja 8:9c58ca13076e 94 Speed_M1 = speedM1; //The motor is turned on at speed_rotation rad/sec
huismaja 8:9c58ca13076e 95 pc.printf("The arm will now rotate to the right with %f rad/sec \n", speedM1);
huismaja 12:35a81d6c6505 96 wait(0.1f);
huismaja 3:0a4bfcb3f339 97 break;
huismaja 5:9b5edadc023b 98 case 2: //For stopping the rotation to the right
huismaja 12:35a81d6c6505 99 Direction_M1 = 1; //The arm will rotate to the right
huismaja 5:9b5edadc023b 100 Speed_M1 = 0; //The motor is turned off
huismaja 5:9b5edadc023b 101 pc.printf("The arm will now stop rotating to the right \n");
huismaja 12:35a81d6c6505 102 wait(0.1f);
huismaja 3:0a4bfcb3f339 103 break;
huismaja 3:0a4bfcb3f339 104 }
huismaja 3:0a4bfcb3f339 105 }
huismaja 3:0a4bfcb3f339 106
huismaja 11:b1ad5267a6bd 107 void activate_translation (){ //To activate the translation
huismaja 11:b1ad5267a6bd 108 counter_translation++; //Increase the counter_translation that counts the number of time switch 3 has been pressed
huismaja 11:b1ad5267a6bd 109 if (counter_translation > 4){ //Because there are 4 cases in the switch statement, case 5 = case 1
huismaja 11:b1ad5267a6bd 110 counter_translation=1;
huismaja 3:0a4bfcb3f339 111 }
huismaja 11:b1ad5267a6bd 112 translation_go = true; //After increasing the counter, set the translation go-flag to true
huismaja 3:0a4bfcb3f339 113 }
huismaja 3:0a4bfcb3f339 114
huismaja 10:cf579c3eaf01 115 void translation (){ //Function to control the translation
huismaja 10:cf579c3eaf01 116 switch (counter_translation){ //Create a switch statement
huismaja 8:9c58ca13076e 117 case 1: //For activating the elongation of the arm
huismaja 8:9c58ca13076e 118 Direction_M2 = 1; //The arm will get longer
huismaja 10:cf579c3eaf01 119 Speed_M2 = speedM2; //The motor is turned on at speed_translation rad/sec
huismaja 5:9b5edadc023b 120 pc.printf("The arm will now get longer \n");
huismaja 12:35a81d6c6505 121 wait(0.1f);
huismaja 5:9b5edadc023b 122 break;
huismaja 8:9c58ca13076e 123 case 2: //For stopping the elongation of the arm
huismaja 8:9c58ca13076e 124 Direction_M2 = 1; //The arm will get longer
huismaja 8:9c58ca13076e 125 Speed_M2 = 0; //The motor is turned off
huismaja 5:9b5edadc023b 126 pc.printf("The arm will now stop getting longer \n");
huismaja 12:35a81d6c6505 127 wait(0.1f);
huismaja 5:9b5edadc023b 128 break;
huismaja 8:9c58ca13076e 129 case 3: //For activating the shortening of the arm
huismaja 8:9c58ca13076e 130 Direction_M2 = 0; //The arm will get shorter
huismaja 10:cf579c3eaf01 131 Speed_M2 = speedM2; //The motor is turned on at speed_translation rad/sec
huismaja 5:9b5edadc023b 132 pc.printf("The arm will now get shorter \n");
huismaja 12:35a81d6c6505 133 wait(0.1f);
huismaja 5:9b5edadc023b 134 break;
huismaja 8:9c58ca13076e 135 case 4: //For stopping the shortening of the arm
huismaja 8:9c58ca13076e 136 Direction_M2 = 0; //The arm will get shorter
huismaja 8:9c58ca13076e 137 Speed_M2 = 0; //The motor is turned off
huismaja 5:9b5edadc023b 138 pc.printf("The arm will now stop getting shorter \n");
huismaja 12:35a81d6c6505 139 wait(0.1f);
huismaja 5:9b5edadc023b 140 break;
huismaja 5:9b5edadc023b 141 }
huismaja 11:b1ad5267a6bd 142 }
huismaja 5:9b5edadc023b 143
huismaja 11:b1ad5267a6bd 144 void activate_gripper (){ //To activate the gripper
huismaja 11:b1ad5267a6bd 145 counter_gripper++; //Increase the couter_gripper that counts the number of time switch 4 has been pressed
huismaja 11:b1ad5267a6bd 146 if (counter_gripper> 2){ //Because there are only 2 cases in the switch statement, case 3 = case 1
huismaja 11:b1ad5267a6bd 147 counter_gripper=1;
huismaja 5:9b5edadc023b 148 }
huismaja 11:b1ad5267a6bd 149 gripper_go = true; //After increasing the counter, set the gripper go-flag to true
huismaja 5:9b5edadc023b 150 }
huismaja 5:9b5edadc023b 151
huismaja 10:cf579c3eaf01 152 void gripper (){ //Function to control the gripper
huismaja 10:cf579c3eaf01 153 switch (counter_gripper){ //Create a switch statement
huismaja 10:cf579c3eaf01 154 case 1: //For closing the gripper
huismaja 10:cf579c3eaf01 155 gripper_servo = 0; //The gripper is now closed
huismaja 5:9b5edadc023b 156 pc.printf("The gripper will now close \n");
huismaja 12:35a81d6c6505 157 wait(0.1f);
huismaja 4:84bd5ead83f9 158 break;
huismaja 10:cf579c3eaf01 159 case 2: //For opening the gripper
huismaja 10:cf579c3eaf01 160 gripper_servo = 1; //The gripper is now open
huismaja 5:9b5edadc023b 161 pc.printf("The gripper will now open \n");
huismaja 12:35a81d6c6505 162 wait(0.1f);
huismaja 4:84bd5ead83f9 163 break;
huismaja 4:84bd5ead83f9 164 }
huismaja 4:84bd5ead83f9 165 }
huismaja 4:84bd5ead83f9 166
huismaja 0:6c8444d06e97 167 int main(){
huismaja 10:cf579c3eaf01 168 pc.baud(115200); //Set the boud rate for serial communication
huismaja 10:cf579c3eaf01 169 pc.printf("RESET \n"); //Print "RESET"
huismaja 1:0d55a4bf2269 170
huismaja 5:9b5edadc023b 171 Direction_M1 = 1; //The arm will initially get longer
huismaja 5:9b5edadc023b 172 Speed_M1 = 0; //The first motor is initially turned off
huismaja 5:9b5edadc023b 173 Direction_M2 = 255; //The arm will initially turn left
huismaja 6:98121d2d76a6 174 Speed_M2 = 0; //The second motor is initially turned off
huismaja 5:9b5edadc023b 175 gripper_servo = 1; //The gripper is initially open
huismaja 10:cf579c3eaf01 176 encoder_M1.reset(); //Reset the encoder for motor 1
huismaja 10:cf579c3eaf01 177 encoder_M2.reset(); //Reset the encoder for motor 2
huismaja 1:0d55a4bf2269 178
huismaja 10:cf579c3eaf01 179 encoder_M1_ticker.attach(&read_position_M1,0.01); //Connect the encoder_M1_ticker to the read_position_M1 function and execute at 100Hz
huismaja 10:cf579c3eaf01 180 encoder_M2_ticker.attach(&read_position_M2,0.01); //Connect the encoder_M2_ticker to the read_position_M2 function and execute at 100Hz
huismaja 10:cf579c3eaf01 181
huismaja 11:b1ad5267a6bd 182 Switch_1.rise(&activate_rotation_left); //Use switch_1 to activate the rotation_left go-flag
huismaja 11:b1ad5267a6bd 183 Switch_2.rise(&activate_rotation_right); //Use switch_2 to activate the counter_rotation_right go-flag
huismaja 11:b1ad5267a6bd 184 Switch_3.rise(&activate_translation); //Use switch_3 to activate the counter_translation go-flag
huismaja 11:b1ad5267a6bd 185 Switch_4.rise(&activate_gripper); //Use switch_4 to activate the counter_gripper go-flag
huismaja 5:9b5edadc023b 186
huismaja 11:b1ad5267a6bd 187 while (true){
huismaja 12:35a81d6c6505 188 if (rotation_left_go == true) { //If the rotation_left go-flag is true
huismaja 12:35a81d6c6505 189 rotation_left_go = false; //Set the rotation_left go-flag to false
huismaja 12:35a81d6c6505 190 rotation_left(); //Execute the rotation_left function
huismaja 11:b1ad5267a6bd 191 }
huismaja 12:35a81d6c6505 192 if (rotation_right_go == true) { //If the rotation_right go-flag is true
huismaja 12:35a81d6c6505 193 rotation_right_go = false; //Set the rotation_right go-flag to false
huismaja 12:35a81d6c6505 194 rotation_right(); //Execute the rotation_right function
huismaja 11:b1ad5267a6bd 195 }
huismaja 12:35a81d6c6505 196 if (translation_go == true) { //If the translation go-flag is true
huismaja 12:35a81d6c6505 197 translation_go = false; //Set the translation go-flag to false
huismaja 12:35a81d6c6505 198 translation(); //Execute the translation function
huismaja 11:b1ad5267a6bd 199 }
huismaja 12:35a81d6c6505 200 if (gripper_go == true) { //If the gripper go-flag is true
huismaja 12:35a81d6c6505 201 gripper_go = false; //Set the gripper go-flag to false
huismaja 12:35a81d6c6505 202 gripper(); //Execute the gripper function
huismaja 11:b1ad5267a6bd 203 }
huismaja 11:b1ad5267a6bd 204 }
huismaja 0:6c8444d06e97 205 }