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@13:ea065d364277, 2016-10-24 (annotated)

Committer:
huismaja
Date:
Mon Oct 24 11:42:49 2016 +0000
Revision:
13:ea065d364277
Parent:
12:35a81d6c6505 
Motor_control_buttons

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 13:ea065d364277 18 InterruptIn Switch_1(SW3); //Switch 1 to control the rotation to the left
huismaja 13:ea065d364277 19 InterruptIn Switch_2(SW2); //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 13:ea065d364277 23 Ticker check_goflags_ticker; //Create a ticker for checking if the go-flags are set true
huismaja 13:ea065d364277 24
huismaja 5:9b5edadc023b 25 int counter_rotation_left=0; //To count the number of times the rotation_left switch (switch_1) has been pushed
huismaja 5:9b5edadc023b 26 int counter_rotation_right=0; //To count the number of times the rotation_right switch (switch_2) has been pushed
huismaja 5:9b5edadc023b 27 int counter_translation=0; //To count the number of times the translation switch (switch_3) has been pushed
huismaja 5:9b5edadc023b 28 int counter_gripper=0; //To count the number of times the gripper switch (switch_4) has been pushed
huismaja 5:9b5edadc023b 29
huismaja 11:b1ad5267a6bd 30 volatile bool rotation_left_go = false; //Create a go-flag for the rotation_left and set it to false
huismaja 11:b1ad5267a6bd 31 volatile bool rotation_right_go = false; //Create a go-flag for the rotation_right and set it to false
huismaja 11:b1ad5267a6bd 32 volatile bool translation_go = false; //Create a go-flag for the translation and set it to false
huismaja 11:b1ad5267a6bd 33 volatile bool gripper_go = false; //Create a go-flag for the gripper and set it to false
huismaja 0:6c8444d06e97 34
huismaja 11:b1ad5267a6bd 35 MODSERIAL pc(USBTX, USBRX); //Make a connection with the PC
huismaja 11:b1ad5267a6bd 36
huismaja 11:b1ad5267a6bd 37 const double pi = 3.1415926535897; //Declare the value of pi
huismaja 9:cca4d4084775 38
huismaja 10:cf579c3eaf01 39 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 40 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 41 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 42 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 43
huismaja 13:ea065d364277 44 float angle_M1=0; //The measured angle of motor 1 is initially zero
huismaja 13:ea065d364277 45 float angle_M2=0; //The measured angle of motor 2 is initially zero
huismaja 12:35a81d6c6505 46
huismaja 10:cf579c3eaf01 47 void read_position_M1(){ //Function to read the position of motor 1
huismaja 13:ea065d364277 48 int pulses_M1 = -encoder_M1.getPulses(); //Read the encoder data and store it in pulses_M1
huismaja 13:ea065d364277 49 angle_M1 = float(pulses_M1)/4200*2.0*pi; //Calculate the angle that corresponds with the measured encoder pulses
huismaja 13:ea065d364277 50 // pc.printf("%i \t%f \t", pulses_M1, angle_M1);
huismaja 9:cca4d4084775 51 }
huismaja 9:cca4d4084775 52
huismaja 10:cf579c3eaf01 53 void read_position_M2(){ //Function to read the position of motor 2
huismaja 13:ea065d364277 54 int pulses_M2 = -encoder_M2.getPulses(); //Read the encoder data and store it in pulses_M2
huismaja 13:ea065d364277 55 angle_M2 = float(pulses_M2)/4200*2.0*pi; //Calculate the angle that corresponds with the measured encoder pulses
huismaja 13:ea065d364277 56 // pc.printf("%i \t%f \n", pulses_M2, angle_M2);
huismaja 9:cca4d4084775 57 }
huismaja 9:cca4d4084775 58
huismaja 11:b1ad5267a6bd 59 void activate_rotation_left (){ //To activate the rotation_left
huismaja 11:b1ad5267a6bd 60 counter_rotation_left++; //Increase the counter_rotation_left that counts the number of time switch 1 has been pressed
huismaja 11:b1ad5267a6bd 61 if (counter_rotation_left > 2){ //Because there are only 2 cases in the switch statement, case 3 = case 1 etc.
huismaja 11:b1ad5267a6bd 62 counter_rotation_left=1;
huismaja 11:b1ad5267a6bd 63 }
huismaja 11:b1ad5267a6bd 64 rotation_left_go = true; //After increasing the counter, set the rotation_left go-flag to true
huismaja 11:b1ad5267a6bd 65 }
huismaja 11:b1ad5267a6bd 66
huismaja 10:cf579c3eaf01 67 void rotation_left (){ //Function to control the rotation to the left
huismaja 10:cf579c3eaf01 68 switch (counter_rotation_left){ //Create a switch statement
huismaja 10:cf579c3eaf01 69 case 1: //For activating the rotation to the left
huismaja 13:ea065d364277 70 Direction_M1 = 1; //The arm will rotate to the left
huismaja 10:cf579c3eaf01 71 Speed_M1 = speedM1; //The motor is turned on at speed_rotation rad/sec
huismaja 8:9c58ca13076e 72 pc.printf("The arm will now rotate to the left with %f rad/sec \n", speedM1);
huismaja 12:35a81d6c6505 73 wait(0.1f);
huismaja 3:0a4bfcb3f339 74 break;
huismaja 10:cf579c3eaf01 75 case 2: //For stopping the rotation to the left
huismaja 13:ea065d364277 76 Direction_M1 = 1; //The arm will rotate to the left
huismaja 10:cf579c3eaf01 77 Speed_M1 = 0; //The motor is turned off
huismaja 5:9b5edadc023b 78 pc.printf("The arm will now stop rotating to the left \n");
huismaja 12:35a81d6c6505 79 wait(0.1f);
huismaja 3:0a4bfcb3f339 80 break;
huismaja 3:0a4bfcb3f339 81 }
huismaja 11:b1ad5267a6bd 82 }
huismaja 3:0a4bfcb3f339 83
huismaja 11:b1ad5267a6bd 84 void activate_rotation_right (){ //To activate the rotation_right
huismaja 11:b1ad5267a6bd 85 counter_rotation_right++; //Increase the counter_rotation_right that counts the number of time switch 2 has been pressed
huismaja 11:b1ad5267a6bd 86 if (counter_rotation_right> 2){ //Because there are only 2 cases in the switch statement, case 3 = case 1
huismaja 11:b1ad5267a6bd 87 counter_rotation_right=1;
huismaja 3:0a4bfcb3f339 88 }
huismaja 11:b1ad5267a6bd 89 rotation_right_go = true; //After increasing the counter, set the rotation_right go-flag to true
huismaja 3:0a4bfcb3f339 90 }
huismaja 3:0a4bfcb3f339 91
huismaja 10:cf579c3eaf01 92 void rotation_right (){ //Function to control the rotation to the left
huismaja 10:cf579c3eaf01 93 switch (counter_rotation_right){ //Create a switch statement
huismaja 10:cf579c3eaf01 94 case 1: //For activation the rotation to the right
huismaja 13:ea065d364277 95 Direction_M1 = 0; //The arm will rotate to the right
huismaja 8:9c58ca13076e 96 Speed_M1 = speedM1; //The motor is turned on at speed_rotation rad/sec
huismaja 8:9c58ca13076e 97 pc.printf("The arm will now rotate to the right with %f rad/sec \n", speedM1);
huismaja 12:35a81d6c6505 98 wait(0.1f);
huismaja 3:0a4bfcb3f339 99 break;
huismaja 5:9b5edadc023b 100 case 2: //For stopping the rotation to the right
huismaja 13:ea065d364277 101 Direction_M1 = 0; //The arm will rotate to the right
huismaja 5:9b5edadc023b 102 Speed_M1 = 0; //The motor is turned off
huismaja 5:9b5edadc023b 103 pc.printf("The arm will now stop rotating to the right \n");
huismaja 12:35a81d6c6505 104 wait(0.1f);
huismaja 3:0a4bfcb3f339 105 break;
huismaja 3:0a4bfcb3f339 106 }
huismaja 3:0a4bfcb3f339 107 }
huismaja 3:0a4bfcb3f339 108
huismaja 11:b1ad5267a6bd 109 void activate_translation (){ //To activate the translation
huismaja 11:b1ad5267a6bd 110 counter_translation++; //Increase the counter_translation that counts the number of time switch 3 has been pressed
huismaja 11:b1ad5267a6bd 111 if (counter_translation > 4){ //Because there are 4 cases in the switch statement, case 5 = case 1
huismaja 11:b1ad5267a6bd 112 counter_translation=1;
huismaja 3:0a4bfcb3f339 113 }
huismaja 11:b1ad5267a6bd 114 translation_go = true; //After increasing the counter, set the translation go-flag to true
huismaja 3:0a4bfcb3f339 115 }
huismaja 3:0a4bfcb3f339 116
huismaja 10:cf579c3eaf01 117 void translation (){ //Function to control the translation
huismaja 10:cf579c3eaf01 118 switch (counter_translation){ //Create a switch statement
huismaja 8:9c58ca13076e 119 case 1: //For activating the elongation of the arm
huismaja 8:9c58ca13076e 120 Direction_M2 = 1; //The arm will get longer
huismaja 10:cf579c3eaf01 121 Speed_M2 = speedM2; //The motor is turned on at speed_translation rad/sec
huismaja 5:9b5edadc023b 122 pc.printf("The arm will now get longer \n");
huismaja 12:35a81d6c6505 123 wait(0.1f);
huismaja 5:9b5edadc023b 124 break;
huismaja 8:9c58ca13076e 125 case 2: //For stopping the elongation of the arm
huismaja 8:9c58ca13076e 126 Direction_M2 = 1; //The arm will get longer
huismaja 8:9c58ca13076e 127 Speed_M2 = 0; //The motor is turned off
huismaja 5:9b5edadc023b 128 pc.printf("The arm will now stop getting longer \n");
huismaja 12:35a81d6c6505 129 wait(0.1f);
huismaja 5:9b5edadc023b 130 break;
huismaja 8:9c58ca13076e 131 case 3: //For activating the shortening of the arm
huismaja 8:9c58ca13076e 132 Direction_M2 = 0; //The arm will get shorter
huismaja 10:cf579c3eaf01 133 Speed_M2 = speedM2; //The motor is turned on at speed_translation rad/sec
huismaja 5:9b5edadc023b 134 pc.printf("The arm will now get shorter \n");
huismaja 12:35a81d6c6505 135 wait(0.1f);
huismaja 5:9b5edadc023b 136 break;
huismaja 8:9c58ca13076e 137 case 4: //For stopping the shortening of the arm
huismaja 8:9c58ca13076e 138 Direction_M2 = 0; //The arm will get shorter
huismaja 8:9c58ca13076e 139 Speed_M2 = 0; //The motor is turned off
huismaja 5:9b5edadc023b 140 pc.printf("The arm will now stop getting shorter \n");
huismaja 12:35a81d6c6505 141 wait(0.1f);
huismaja 5:9b5edadc023b 142 break;
huismaja 5:9b5edadc023b 143 }
huismaja 11:b1ad5267a6bd 144 }
huismaja 5:9b5edadc023b 145
huismaja 11:b1ad5267a6bd 146 void activate_gripper (){ //To activate the gripper
huismaja 11:b1ad5267a6bd 147 counter_gripper++; //Increase the couter_gripper that counts the number of time switch 4 has been pressed
huismaja 11:b1ad5267a6bd 148 if (counter_gripper> 2){ //Because there are only 2 cases in the switch statement, case 3 = case 1
huismaja 11:b1ad5267a6bd 149 counter_gripper=1;
huismaja 5:9b5edadc023b 150 }
huismaja 11:b1ad5267a6bd 151 gripper_go = true; //After increasing the counter, set the gripper go-flag to true
huismaja 5:9b5edadc023b 152 }
huismaja 5:9b5edadc023b 153
huismaja 10:cf579c3eaf01 154 void gripper (){ //Function to control the gripper
huismaja 10:cf579c3eaf01 155 switch (counter_gripper){ //Create a switch statement
huismaja 10:cf579c3eaf01 156 case 1: //For closing the gripper
huismaja 10:cf579c3eaf01 157 gripper_servo = 0; //The gripper is now closed
huismaja 5:9b5edadc023b 158 pc.printf("The gripper will now close \n");
huismaja 12:35a81d6c6505 159 wait(0.1f);
huismaja 4:84bd5ead83f9 160 break;
huismaja 10:cf579c3eaf01 161 case 2: //For opening the gripper
huismaja 13:ea065d364277 162 gripper_servo = 0.3; //The gripper is now open
huismaja 5:9b5edadc023b 163 pc.printf("The gripper will now open \n");
huismaja 12:35a81d6c6505 164 wait(0.1f);
huismaja 4:84bd5ead83f9 165 break;
huismaja 4:84bd5ead83f9 166 }
huismaja 4:84bd5ead83f9 167 }
huismaja 4:84bd5ead83f9 168
huismaja 13:ea065d364277 169 void check_goflags (){ //Function to check if the go-flags are activated
huismaja 13:ea065d364277 170 if (rotation_left_go == true) { //If the rotation_left go-flag is true
huismaja 13:ea065d364277 171 rotation_left_go = false; //Set the rotation_left go-flag to false
huismaja 13:ea065d364277 172 rotation_left(); //Execute the rotation_left function
huismaja 13:ea065d364277 173 }
huismaja 13:ea065d364277 174 if (rotation_right_go == true) { //If the rotation_right go-flag is true
huismaja 13:ea065d364277 175 rotation_right_go = false; //Set the rotation_right go-flag to false
huismaja 13:ea065d364277 176 rotation_right(); //Execute the rotation_right function
huismaja 13:ea065d364277 177 }
huismaja 13:ea065d364277 178 if (translation_go == true) { //If the translation go-flag is true
huismaja 13:ea065d364277 179 translation_go = false; //Set the translation go-flag to false
huismaja 13:ea065d364277 180 translation(); //Execute the translation function
huismaja 13:ea065d364277 181 }
huismaja 13:ea065d364277 182 if (gripper_go == true) { //If the gripper go-flag is true
huismaja 13:ea065d364277 183 gripper_go = false; //Set the gripper go-flag to false
huismaja 13:ea065d364277 184 gripper(); //Execute the gripper function
huismaja 13:ea065d364277 185 }
huismaja 13:ea065d364277 186 }
huismaja 13:ea065d364277 187
huismaja 0:6c8444d06e97 188 int main(){
huismaja 10:cf579c3eaf01 189 pc.baud(115200); //Set the boud rate for serial communication
huismaja 10:cf579c3eaf01 190 pc.printf("RESET \n"); //Print "RESET"
huismaja 1:0d55a4bf2269 191
huismaja 5:9b5edadc023b 192 Direction_M1 = 1; //The arm will initially get longer
huismaja 5:9b5edadc023b 193 Speed_M1 = 0; //The first motor is initially turned off
huismaja 5:9b5edadc023b 194 Direction_M2 = 255; //The arm will initially turn left
huismaja 6:98121d2d76a6 195 Speed_M2 = 0; //The second motor is initially turned off
huismaja 13:ea065d364277 196 gripper_servo = 0.3; //The gripper is initially open
huismaja 10:cf579c3eaf01 197 encoder_M1.reset(); //Reset the encoder for motor 1
huismaja 10:cf579c3eaf01 198 encoder_M2.reset(); //Reset the encoder for motor 2
huismaja 1:0d55a4bf2269 199
huismaja 10:cf579c3eaf01 200 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 201 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 202
huismaja 13:ea065d364277 203 Switch_1.rise(&activate_rotation_left); //Use switch_1 to activate the counter_rotation_left go-flag
huismaja 11:b1ad5267a6bd 204 Switch_2.rise(&activate_rotation_right); //Use switch_2 to activate the counter_rotation_right go-flag
huismaja 11:b1ad5267a6bd 205 Switch_3.rise(&activate_translation); //Use switch_3 to activate the counter_translation go-flag
huismaja 11:b1ad5267a6bd 206 Switch_4.rise(&activate_gripper); //Use switch_4 to activate the counter_gripper go-flag
huismaja 5:9b5edadc023b 207
huismaja 13:ea065d364277 208 check_goflags_ticker.attach(&check_goflags, 0.01); //Connect the check_goflags_ticker to the check_goflags
huismaja 13:ea065d364277 209
huismaja 13:ea065d364277 210 while (true){}
huismaja 0:6c8444d06e97 211 }