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@9:cca4d4084775, 2016-10-11 (annotated)

Committer:
huismaja
Date:
Tue Oct 11 11:00:18 2016 +0000
Revision:
9:cca4d4084775
Parent:
8:9c58ca13076e
Child:
10:cf579c3eaf01
Working encoders for 2 DC-motors --> pulses and angles

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 9:cca4d4084775 6 QEI encoder_M1 (D9, D10, NC, 8400);
huismaja 9:cca4d4084775 7 QEI encoder_M2 (D11, D12, NC, 8400);
huismaja 9:cca4d4084775 8
huismaja 9:cca4d4084775 9 Ticker encoder_M1_ticker;
huismaja 9:cca4d4084775 10 Ticker encoder_M2_ticker;
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 1:0d55a4bf2269 16
huismaja 7:9a3809a9ab3e 17 Servo gripper_servo(D13); //To control the gripper (Note: D8=PTC12)
huismaja 0:6c8444d06e97 18
huismaja 9:cca4d4084775 19 InterruptIn Switch_1(SW2); //To control the rotation to the left
huismaja 9:cca4d4084775 20 InterruptIn Switch_2(SW3); //To control the rotation to the right
huismaja 7:9a3809a9ab3e 21 InterruptIn Switch_3(D2); //To control the translation of the arm
huismaja 7:9a3809a9ab3e 22 InterruptIn Switch_4(D3); //To control the gripper
huismaja 2:b20570f160c6 23
huismaja 5:9b5edadc023b 24 int counter_rotation_left=0; //To count the number of times the rotation_left switch (switch_1) has been pushed
huismaja 5:9b5edadc023b 25 int counter_rotation_right=0; //To count the number of times the rotation_right switch (switch_2) has been pushed
huismaja 5:9b5edadc023b 26 int counter_translation=0; //To count the number of times the translation switch (switch_3) has been pushed
huismaja 5:9b5edadc023b 27 int counter_gripper=0; //To count the number of times the gripper switch (switch_4) has been pushed
huismaja 5:9b5edadc023b 28
huismaja 5:9b5edadc023b 29 MODSERIAL pc(USBTX, USBRX); //To make connection with the PC
huismaja 0:6c8444d06e97 30
huismaja 8:9c58ca13076e 31 const double pi = 3.1415926535897;
huismaja 9:cca4d4084775 32
huismaja 8:9c58ca13076e 33 double speed_rotation=pi/5; //in rad/sec
huismaja 8:9c58ca13076e 34 double speed_translation=pi/5; //in rad/sec
huismaja 8:9c58ca13076e 35 double speedM1=speed_rotation/8.4;
huismaja 8:9c58ca13076e 36 double speedM2=speed_translation/8.4;
huismaja 6:98121d2d76a6 37
huismaja 9:cca4d4084775 38 void read_position_M1(){
huismaja 9:cca4d4084775 39 int pulses_M1 = encoder_M1.getPulses();
huismaja 9:cca4d4084775 40 float angle_M1 = float(pulses_M1)/4200*2.0*pi;
huismaja 9:cca4d4084775 41 pc.printf("%i \t%f \t", pulses_M1, angle_M1);
huismaja 9:cca4d4084775 42 }
huismaja 9:cca4d4084775 43
huismaja 9:cca4d4084775 44 void read_position_M2(){
huismaja 9:cca4d4084775 45 int pulses_M2 = encoder_M2.getPulses();
huismaja 9:cca4d4084775 46 float angle_M2 = float(pulses_M2)/4200*2.0*pi;
huismaja 9:cca4d4084775 47 pc.printf("%i \t%f \n", pulses_M2, angle_M2);
huismaja 9:cca4d4084775 48 }
huismaja 9:cca4d4084775 49
huismaja 3:0a4bfcb3f339 50 void rotation_left (){
huismaja 3:0a4bfcb3f339 51 switch (counter_rotation_left){
huismaja 5:9b5edadc023b 52 case 1: //For activating the rotation to the left
huismaja 5:9b5edadc023b 53 Direction_M1 = 1; //The arm will rotate to the left
huismaja 8:9c58ca13076e 54 Speed_M1 = speedM1; //The motor is turned on at speed_rotation rad/sec
huismaja 8:9c58ca13076e 55 pc.printf("The arm will now rotate to the left with %f rad/sec \n", speedM1);
huismaja 3:0a4bfcb3f339 56 wait(0.5f);
huismaja 3:0a4bfcb3f339 57 break;
huismaja 5:9b5edadc023b 58 case 2: //For stopping the rotation to the left
huismaja 5:9b5edadc023b 59 Direction_M1 = 1; //The arm will rotate to the left
huismaja 5:9b5edadc023b 60 Speed_M1 = 0; //The motor is turned off
huismaja 5:9b5edadc023b 61 pc.printf("The arm will now stop rotating to the left \n");
huismaja 3:0a4bfcb3f339 62 wait(0.5f);
huismaja 3:0a4bfcb3f339 63 break;
huismaja 3:0a4bfcb3f339 64 }
huismaja 3:0a4bfcb3f339 65 }
huismaja 3:0a4bfcb3f339 66
huismaja 5:9b5edadc023b 67 void switch_counter_rotation_left (){ //To count the number of times the rotation_left switch (switch_1) has been pushed
huismaja 3:0a4bfcb3f339 68 counter_rotation_left++;
huismaja 3:0a4bfcb3f339 69 if (counter_rotation_left > 2){
huismaja 3:0a4bfcb3f339 70 counter_rotation_left=1;
huismaja 3:0a4bfcb3f339 71 }
huismaja 3:0a4bfcb3f339 72 rotation_left();
huismaja 3:0a4bfcb3f339 73 }
huismaja 3:0a4bfcb3f339 74
huismaja 3:0a4bfcb3f339 75 void rotation_right (){
huismaja 3:0a4bfcb3f339 76 switch (counter_rotation_right){
huismaja 5:9b5edadc023b 77 case 1: //For activation the rotation to the right
huismaja 5:9b5edadc023b 78 Direction_M1 = 0; //The arm will rotate to the right
huismaja 8:9c58ca13076e 79 Speed_M1 = speedM1; //The motor is turned on at speed_rotation rad/sec
huismaja 8:9c58ca13076e 80 pc.printf("The arm will now rotate to the right with %f rad/sec \n", speedM1);
huismaja 3:0a4bfcb3f339 81 wait(0.5f);
huismaja 3:0a4bfcb3f339 82 break;
huismaja 5:9b5edadc023b 83 case 2: //For stopping the rotation to the right
huismaja 5:9b5edadc023b 84 Direction_M1 = 0; //The arm will rotate to the right
huismaja 5:9b5edadc023b 85 Speed_M1 = 0; //The motor is turned off
huismaja 5:9b5edadc023b 86 pc.printf("The arm will now stop rotating to the right \n");
huismaja 3:0a4bfcb3f339 87 wait(0.5f);
huismaja 3:0a4bfcb3f339 88 break;
huismaja 3:0a4bfcb3f339 89 }
huismaja 3:0a4bfcb3f339 90 }
huismaja 3:0a4bfcb3f339 91
huismaja 5:9b5edadc023b 92 void switch_counter_rotation_right (){ //To count the number of times the rotation_right switch (switch_2) has been pushed
huismaja 3:0a4bfcb3f339 93 counter_rotation_right++;
huismaja 3:0a4bfcb3f339 94 if (counter_rotation_right> 2){
huismaja 3:0a4bfcb3f339 95 counter_rotation_right=1;
huismaja 3:0a4bfcb3f339 96 }
huismaja 3:0a4bfcb3f339 97 rotation_right();
huismaja 3:0a4bfcb3f339 98 }
huismaja 3:0a4bfcb3f339 99
huismaja 5:9b5edadc023b 100 void translation (){
huismaja 5:9b5edadc023b 101 switch (counter_translation){
huismaja 8:9c58ca13076e 102 case 1: //For activating the elongation of the arm
huismaja 8:9c58ca13076e 103 Direction_M2 = 1; //The arm will get longer
huismaja 8:9c58ca13076e 104 Speed_M2 = speedM2; //The motor is turned on at speed_rotation rad/sec
huismaja 5:9b5edadc023b 105 pc.printf("The arm will now get longer \n");
huismaja 5:9b5edadc023b 106 wait(0.5f);
huismaja 5:9b5edadc023b 107 break;
huismaja 8:9c58ca13076e 108 case 2: //For stopping the elongation of the arm
huismaja 8:9c58ca13076e 109 Direction_M2 = 1; //The arm will get longer
huismaja 8:9c58ca13076e 110 Speed_M2 = 0; //The motor is turned off
huismaja 5:9b5edadc023b 111 pc.printf("The arm will now stop getting longer \n");
huismaja 5:9b5edadc023b 112 wait(0.5f);
huismaja 5:9b5edadc023b 113 break;
huismaja 8:9c58ca13076e 114 case 3: //For activating the shortening of the arm
huismaja 8:9c58ca13076e 115 Direction_M2 = 0; //The arm will get shorter
huismaja 8:9c58ca13076e 116 Speed_M2 = speedM2; //The motor is turned on at speed_rotation rad/sec
huismaja 5:9b5edadc023b 117 pc.printf("The arm will now get shorter \n");
huismaja 5:9b5edadc023b 118 wait(0.5f);
huismaja 5:9b5edadc023b 119 break;
huismaja 8:9c58ca13076e 120 case 4: //For stopping the shortening of the arm
huismaja 8:9c58ca13076e 121 Direction_M2 = 0; //The arm will get shorter
huismaja 8:9c58ca13076e 122 Speed_M2 = 0; //The motor is turned off
huismaja 5:9b5edadc023b 123 pc.printf("The arm will now stop getting shorter \n");
huismaja 5:9b5edadc023b 124 wait(0.5f);
huismaja 5:9b5edadc023b 125 break;
huismaja 5:9b5edadc023b 126 }
huismaja 5:9b5edadc023b 127 }
huismaja 5:9b5edadc023b 128
huismaja 5:9b5edadc023b 129 void switch_counter_translation (){ //To count the number of times the translation switch (switch_3) has been pushed
huismaja 5:9b5edadc023b 130 counter_translation++;
huismaja 5:9b5edadc023b 131 if (counter_translation > 4){
huismaja 5:9b5edadc023b 132 counter_translation=1;
huismaja 5:9b5edadc023b 133 }
huismaja 5:9b5edadc023b 134 translation();
huismaja 5:9b5edadc023b 135 }
huismaja 5:9b5edadc023b 136
huismaja 4:84bd5ead83f9 137 void gripper (){
huismaja 4:84bd5ead83f9 138 switch (counter_gripper){
huismaja 4:84bd5ead83f9 139 case 1:
huismaja 5:9b5edadc023b 140 gripper_servo = 0; //The gripper is now closed
huismaja 5:9b5edadc023b 141 pc.printf("The gripper will now close \n");
huismaja 4:84bd5ead83f9 142 wait(0.5f);
huismaja 4:84bd5ead83f9 143 break;
huismaja 4:84bd5ead83f9 144 case 2:
huismaja 5:9b5edadc023b 145 gripper_servo = 1; //The gripper is now open
huismaja 5:9b5edadc023b 146 pc.printf("The gripper will now open \n");
huismaja 4:84bd5ead83f9 147 wait(0.5f);
huismaja 4:84bd5ead83f9 148 break;
huismaja 4:84bd5ead83f9 149 }
huismaja 4:84bd5ead83f9 150 }
huismaja 4:84bd5ead83f9 151
huismaja 5:9b5edadc023b 152 void switch_counter_gripper (){ //To count the number of times the gripper switch (switch_4) has been pushed
huismaja 4:84bd5ead83f9 153 counter_gripper++;
huismaja 4:84bd5ead83f9 154 if (counter_gripper> 2){
huismaja 4:84bd5ead83f9 155 counter_gripper=1;
huismaja 4:84bd5ead83f9 156 }
huismaja 4:84bd5ead83f9 157 gripper();
huismaja 4:84bd5ead83f9 158 }
huismaja 4:84bd5ead83f9 159
huismaja 0:6c8444d06e97 160 int main(){
huismaja 0:6c8444d06e97 161 pc.baud(115200);
huismaja 0:6c8444d06e97 162 pc.printf("RESET \n");
huismaja 1:0d55a4bf2269 163
huismaja 5:9b5edadc023b 164 Direction_M1 = 1; //The arm will initially get longer
huismaja 5:9b5edadc023b 165 Speed_M1 = 0; //The first motor is initially turned off
huismaja 5:9b5edadc023b 166 Direction_M2 = 255; //The arm will initially turn left
huismaja 6:98121d2d76a6 167 Speed_M2 = 0; //The second motor is initially turned off
huismaja 5:9b5edadc023b 168 gripper_servo = 1; //The gripper is initially open
huismaja 9:cca4d4084775 169 encoder_M1.reset();
huismaja 9:cca4d4084775 170 encoder_M2.reset();
huismaja 9:cca4d4084775 171 encoder_M1_ticker.attach(&read_position_M1,0.5);
huismaja 9:cca4d4084775 172 encoder_M2_ticker.attach(&read_position_M2,0.5);
huismaja 1:0d55a4bf2269 173
huismaja 5:9b5edadc023b 174 Switch_1.rise(&switch_counter_rotation_left);
huismaja 5:9b5edadc023b 175 Switch_2.rise(&switch_counter_rotation_right);
huismaja 5:9b5edadc023b 176 Switch_3.rise(&switch_counter_translation);
huismaja 5:9b5edadc023b 177 Switch_4.rise(&switch_counter_gripper);
huismaja 5:9b5edadc023b 178
huismaja 5:9b5edadc023b 179 while (true);
huismaja 0:6c8444d06e97 180 }