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@11:b1ad5267a6bd, 2016-10-17 (annotated)

Committer:
huismaja
Date:
Mon Oct 17 13:01:00 2016 +0000
Revision:
11:b1ad5267a6bd
Parent:
10:cf579c3eaf01
Child:
12:35a81d6c6505
Using go-flags --> working script for controlling 2 DC-motors and 1 gripper

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 5:9b5edadc023b 12 DigitalOut Direction_M1(D4); //To control the rotation direction of the arm
huismaja 6:98121d2d76a6 13 PwmOut Speed_M1(D5); //To control the rotation speed of the arm
huismaja 6:98121d2d76a6 14 PwmOut Speed_M2(D6); //To control the translation direction of the arm
huismaja 5:9b5edadc023b 15 DigitalOut Direction_M2(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 10:cf579c3eaf01 42 void read_position_M1(){ //Function to read the position of motor 1
huismaja 10:cf579c3eaf01 43 int pulses_M1 = encoder_M1.getPulses(); //Read the encoder data and store it in pulses_M1
huismaja 10:cf579c3eaf01 44 float angle_M1 = float(pulses_M1)/4200*2.0*pi; //Calculate the angle that corresponds with the measured encoder pulses
huismaja 10:cf579c3eaf01 45 // pc.printf("%i \t%f \t", pulses_M1, angle_M1);
huismaja 9:cca4d4084775 46 }
huismaja 9:cca4d4084775 47
huismaja 10:cf579c3eaf01 48 void read_position_M2(){ //Function to read the position of motor 2
huismaja 10:cf579c3eaf01 49 int pulses_M2 = encoder_M2.getPulses(); //Read the encoder data and store it in pulses_M2
huismaja 10:cf579c3eaf01 50 float angle_M2 = float(pulses_M2)/4200*2.0*pi; //Calculate the angle that corresponds with the measured encoder pulses
huismaja 10:cf579c3eaf01 51 // pc.printf("%i \t%f \n", pulses_M2, angle_M2);
huismaja 9:cca4d4084775 52 }
huismaja 9:cca4d4084775 53
huismaja 11:b1ad5267a6bd 54 void activate_rotation_left (){ //To activate the rotation_left
huismaja 11:b1ad5267a6bd 55 counter_rotation_left++; //Increase the counter_rotation_left that counts the number of time switch 1 has been pressed
huismaja 11:b1ad5267a6bd 56 if (counter_rotation_left > 2){ //Because there are only 2 cases in the switch statement, case 3 = case 1 etc.
huismaja 11:b1ad5267a6bd 57 counter_rotation_left=1;
huismaja 11:b1ad5267a6bd 58 }
huismaja 11:b1ad5267a6bd 59 rotation_left_go = true; //After increasing the counter, set the rotation_left go-flag to true
huismaja 11:b1ad5267a6bd 60 }
huismaja 11:b1ad5267a6bd 61
huismaja 10:cf579c3eaf01 62 void rotation_left (){ //Function to control the rotation to the left
huismaja 10:cf579c3eaf01 63 switch (counter_rotation_left){ //Create a switch statement
huismaja 10:cf579c3eaf01 64 case 1: //For activating the rotation to the left
huismaja 10:cf579c3eaf01 65 Direction_M1 = 1; //The arm will rotate to the left
huismaja 10:cf579c3eaf01 66 Speed_M1 = speedM1; //The motor is turned on at speed_rotation rad/sec
huismaja 8:9c58ca13076e 67 pc.printf("The arm will now rotate to the left with %f rad/sec \n", speedM1);
huismaja 3:0a4bfcb3f339 68 wait(0.5f);
huismaja 3:0a4bfcb3f339 69 break;
huismaja 10:cf579c3eaf01 70 case 2: //For stopping the rotation to the left
huismaja 10:cf579c3eaf01 71 Direction_M1 = 1; //The arm will rotate to the left
huismaja 10:cf579c3eaf01 72 Speed_M1 = 0; //The motor is turned off
huismaja 5:9b5edadc023b 73 pc.printf("The arm will now stop rotating to the left \n");
huismaja 3:0a4bfcb3f339 74 wait(0.5f);
huismaja 3:0a4bfcb3f339 75 break;
huismaja 3:0a4bfcb3f339 76 }
huismaja 11:b1ad5267a6bd 77 }
huismaja 3:0a4bfcb3f339 78
huismaja 11:b1ad5267a6bd 79 void activate_rotation_right (){ //To activate the rotation_right
huismaja 11:b1ad5267a6bd 80 counter_rotation_right++; //Increase the counter_rotation_right that counts the number of time switch 2 has been pressed
huismaja 11:b1ad5267a6bd 81 if (counter_rotation_right> 2){ //Because there are only 2 cases in the switch statement, case 3 = case 1
huismaja 11:b1ad5267a6bd 82 counter_rotation_right=1;
huismaja 3:0a4bfcb3f339 83 }
huismaja 11:b1ad5267a6bd 84 rotation_right_go = true; //After increasing the counter, set the rotation_right go-flag to true
huismaja 3:0a4bfcb3f339 85 }
huismaja 3:0a4bfcb3f339 86
huismaja 10:cf579c3eaf01 87 void rotation_right (){ //Function to control the rotation to the left
huismaja 10:cf579c3eaf01 88 switch (counter_rotation_right){ //Create a switch statement
huismaja 10:cf579c3eaf01 89 case 1: //For activation the rotation to the right
huismaja 10:cf579c3eaf01 90 Direction_M1 = 0; //The arm will rotate to the right
huismaja 8:9c58ca13076e 91 Speed_M1 = speedM1; //The motor is turned on at speed_rotation rad/sec
huismaja 8:9c58ca13076e 92 pc.printf("The arm will now rotate to the right with %f rad/sec \n", speedM1);
huismaja 3:0a4bfcb3f339 93 wait(0.5f);
huismaja 3:0a4bfcb3f339 94 break;
huismaja 5:9b5edadc023b 95 case 2: //For stopping the rotation to the right
huismaja 5:9b5edadc023b 96 Direction_M1 = 0; //The arm will rotate to the right
huismaja 5:9b5edadc023b 97 Speed_M1 = 0; //The motor is turned off
huismaja 5:9b5edadc023b 98 pc.printf("The arm will now stop rotating to the right \n");
huismaja 3:0a4bfcb3f339 99 wait(0.5f);
huismaja 3:0a4bfcb3f339 100 break;
huismaja 3:0a4bfcb3f339 101 }
huismaja 3:0a4bfcb3f339 102 }
huismaja 3:0a4bfcb3f339 103
huismaja 11:b1ad5267a6bd 104 void activate_translation (){ //To activate the translation
huismaja 11:b1ad5267a6bd 105 counter_translation++; //Increase the counter_translation that counts the number of time switch 3 has been pressed
huismaja 11:b1ad5267a6bd 106 if (counter_translation > 4){ //Because there are 4 cases in the switch statement, case 5 = case 1
huismaja 11:b1ad5267a6bd 107 counter_translation=1;
huismaja 3:0a4bfcb3f339 108 }
huismaja 11:b1ad5267a6bd 109 translation_go = true; //After increasing the counter, set the translation go-flag to true
huismaja 3:0a4bfcb3f339 110 }
huismaja 3:0a4bfcb3f339 111
huismaja 10:cf579c3eaf01 112 void translation (){ //Function to control the translation
huismaja 10:cf579c3eaf01 113 switch (counter_translation){ //Create a switch statement
huismaja 8:9c58ca13076e 114 case 1: //For activating the elongation of the arm
huismaja 8:9c58ca13076e 115 Direction_M2 = 1; //The arm will get longer
huismaja 10:cf579c3eaf01 116 Speed_M2 = speedM2; //The motor is turned on at speed_translation rad/sec
huismaja 5:9b5edadc023b 117 pc.printf("The arm will now get longer \n");
huismaja 5:9b5edadc023b 118 wait(0.5f);
huismaja 5:9b5edadc023b 119 break;
huismaja 8:9c58ca13076e 120 case 2: //For stopping the elongation of the arm
huismaja 8:9c58ca13076e 121 Direction_M2 = 1; //The arm will get longer
huismaja 8:9c58ca13076e 122 Speed_M2 = 0; //The motor is turned off
huismaja 5:9b5edadc023b 123 pc.printf("The arm will now stop getting longer \n");
huismaja 5:9b5edadc023b 124 wait(0.5f);
huismaja 5:9b5edadc023b 125 break;
huismaja 8:9c58ca13076e 126 case 3: //For activating the shortening of the arm
huismaja 8:9c58ca13076e 127 Direction_M2 = 0; //The arm will get shorter
huismaja 10:cf579c3eaf01 128 Speed_M2 = speedM2; //The motor is turned on at speed_translation rad/sec
huismaja 5:9b5edadc023b 129 pc.printf("The arm will now get shorter \n");
huismaja 5:9b5edadc023b 130 wait(0.5f);
huismaja 5:9b5edadc023b 131 break;
huismaja 8:9c58ca13076e 132 case 4: //For stopping the shortening of the arm
huismaja 8:9c58ca13076e 133 Direction_M2 = 0; //The arm will get shorter
huismaja 8:9c58ca13076e 134 Speed_M2 = 0; //The motor is turned off
huismaja 5:9b5edadc023b 135 pc.printf("The arm will now stop getting shorter \n");
huismaja 5:9b5edadc023b 136 wait(0.5f);
huismaja 5:9b5edadc023b 137 break;
huismaja 5:9b5edadc023b 138 }
huismaja 11:b1ad5267a6bd 139 }
huismaja 5:9b5edadc023b 140
huismaja 11:b1ad5267a6bd 141 void activate_gripper (){ //To activate the gripper
huismaja 11:b1ad5267a6bd 142 counter_gripper++; //Increase the couter_gripper that counts the number of time switch 4 has been pressed
huismaja 11:b1ad5267a6bd 143 if (counter_gripper> 2){ //Because there are only 2 cases in the switch statement, case 3 = case 1
huismaja 11:b1ad5267a6bd 144 counter_gripper=1;
huismaja 5:9b5edadc023b 145 }
huismaja 11:b1ad5267a6bd 146 gripper_go = true; //After increasing the counter, set the gripper go-flag to true
huismaja 5:9b5edadc023b 147 }
huismaja 5:9b5edadc023b 148
huismaja 10:cf579c3eaf01 149 void gripper (){ //Function to control the gripper
huismaja 10:cf579c3eaf01 150 switch (counter_gripper){ //Create a switch statement
huismaja 10:cf579c3eaf01 151 case 1: //For closing the gripper
huismaja 10:cf579c3eaf01 152 gripper_servo = 0; //The gripper is now closed
huismaja 5:9b5edadc023b 153 pc.printf("The gripper will now close \n");
huismaja 4:84bd5ead83f9 154 wait(0.5f);
huismaja 4:84bd5ead83f9 155 break;
huismaja 10:cf579c3eaf01 156 case 2: //For opening the gripper
huismaja 10:cf579c3eaf01 157 gripper_servo = 1; //The gripper is now open
huismaja 5:9b5edadc023b 158 pc.printf("The gripper will now open \n");
huismaja 4:84bd5ead83f9 159 wait(0.5f);
huismaja 4:84bd5ead83f9 160 break;
huismaja 4:84bd5ead83f9 161 }
huismaja 4:84bd5ead83f9 162 }
huismaja 4:84bd5ead83f9 163
huismaja 0:6c8444d06e97 164 int main(){
huismaja 10:cf579c3eaf01 165 pc.baud(115200); //Set the boud rate for serial communication
huismaja 10:cf579c3eaf01 166 pc.printf("RESET \n"); //Print "RESET"
huismaja 1:0d55a4bf2269 167
huismaja 5:9b5edadc023b 168 Direction_M1 = 1; //The arm will initially get longer
huismaja 5:9b5edadc023b 169 Speed_M1 = 0; //The first motor is initially turned off
huismaja 5:9b5edadc023b 170 Direction_M2 = 255; //The arm will initially turn left
huismaja 6:98121d2d76a6 171 Speed_M2 = 0; //The second motor is initially turned off
huismaja 5:9b5edadc023b 172 gripper_servo = 1; //The gripper is initially open
huismaja 10:cf579c3eaf01 173 encoder_M1.reset(); //Reset the encoder for motor 1
huismaja 10:cf579c3eaf01 174 encoder_M2.reset(); //Reset the encoder for motor 2
huismaja 1:0d55a4bf2269 175
huismaja 10:cf579c3eaf01 176 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 177 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 178
huismaja 11:b1ad5267a6bd 179 Switch_1.rise(&activate_rotation_left); //Use switch_1 to activate the rotation_left go-flag
huismaja 11:b1ad5267a6bd 180 Switch_2.rise(&activate_rotation_right); //Use switch_2 to activate the counter_rotation_right go-flag
huismaja 11:b1ad5267a6bd 181 Switch_3.rise(&activate_translation); //Use switch_3 to activate the counter_translation go-flag
huismaja 11:b1ad5267a6bd 182 Switch_4.rise(&activate_gripper); //Use switch_4 to activate the counter_gripper go-flag
huismaja 5:9b5edadc023b 183
huismaja 11:b1ad5267a6bd 184 while (true){
huismaja 11:b1ad5267a6bd 185 if (rotation_left_go == true){ //If the rotation_left go-flag is true
huismaja 11:b1ad5267a6bd 186 rotation_left_go = false; //Set the rotation_left go-flag to false
huismaja 11:b1ad5267a6bd 187 rotation_left(); //Execute the rotation_left function
huismaja 11:b1ad5267a6bd 188 }
huismaja 11:b1ad5267a6bd 189 if (rotation_right_go == true){ //If the rotation_right go-flag is true
huismaja 11:b1ad5267a6bd 190 rotation_right_go = false; //Set the rotation_right go-flag to false
huismaja 11:b1ad5267a6bd 191 rotation_right(); //Execute the rotation_right function
huismaja 11:b1ad5267a6bd 192 }
huismaja 11:b1ad5267a6bd 193 if (translation_go == true){ //If the translation go-flag is true
huismaja 11:b1ad5267a6bd 194 translation_go = false; //Set the translation go-flag to false
huismaja 11:b1ad5267a6bd 195 translation(); //Execute the translation function
huismaja 11:b1ad5267a6bd 196 }
huismaja 11:b1ad5267a6bd 197 if (gripper_go == true){ //If the gripper go-flag is true
huismaja 11:b1ad5267a6bd 198 gripper_go = false; //Set the gripper go-flag to false
huismaja 11:b1ad5267a6bd 199 gripper(); //Execute the gripper function
huismaja 11:b1ad5267a6bd 200 }
huismaja 11:b1ad5267a6bd 201 }
huismaja 0:6c8444d06e97 202 }