Script for controlling 2 DC-motors and a gripper-servo using buttons
Dependencies: MODSERIAL QEI Servo mbed
main.cpp
- Committer:
- huismaja
- Date:
- 2016-10-24
- Revision:
- 13:ea065d364277
- Parent:
- 12:35a81d6c6505
File content as of revision 13:ea065d364277:
#include "mbed.h" #include "MODSERIAL.h" #include "Servo.h" #include "QEI.h" QEI encoder_M1 (D9, D10, NC, 8400); //Define an encoder for motor 1 called encoder_M1 QEI encoder_M2 (D11, D12, NC, 8400); //Define an encoder for motor 2 called encoder_M2 Ticker encoder_M1_ticker; //Create a ticker for reading the encoder data of encoder_M1 Ticker encoder_M2_ticker; //Create a ticker for reading the encoder data of encoder_M2 DigitalOut Direction_M2(D4); //To control the rotation direction of the arm PwmOut Speed_M2(D5); //To control the rotation speed of the arm PwmOut Speed_M1(D6); //To control the translation direction of the arm DigitalOut Direction_M1(D7); //To control the translation speed of the arm Servo gripper_servo(D13); //To control the gripper InterruptIn Switch_1(SW3); //Switch 1 to control the rotation to the left InterruptIn Switch_2(SW2); //Switch 2 to control the rotation to the right InterruptIn Switch_3(D2); //Switch 3 to control the translation of the arm InterruptIn Switch_4(D3); //Switch 4 to control the gripper Ticker check_goflags_ticker; //Create a ticker for checking if the go-flags are set true int counter_rotation_left=0; //To count the number of times the rotation_left switch (switch_1) has been pushed int counter_rotation_right=0; //To count the number of times the rotation_right switch (switch_2) has been pushed int counter_translation=0; //To count the number of times the translation switch (switch_3) has been pushed int counter_gripper=0; //To count the number of times the gripper switch (switch_4) has been pushed volatile bool rotation_left_go = false; //Create a go-flag for the rotation_left and set it to false volatile bool rotation_right_go = false; //Create a go-flag for the rotation_right and set it to false volatile bool translation_go = false; //Create a go-flag for the translation and set it to false volatile bool gripper_go = false; //Create a go-flag for the gripper and set it to false MODSERIAL pc(USBTX, USBRX); //Make a connection with the PC const double pi = 3.1415926535897; //Declare the value of pi double speed_rotation=pi/5; //Set the rotation speed in rad/sec -> NOTE: this has to be below 8.4 rad/sec double speed_translation=pi/5; //Set the translation speed in rad/sec -> NOTE: this has to be below 8.4 rad/sec double speedM1=speed_rotation/8.4; //Map the rotation speed from (0-8.4) to (0-1) by dividing by 8.4 double speedM2=speed_translation/8.4; //Map the translation speed from (0-8.4) to (0-1) by dividing by 8.4 float angle_M1=0; //The measured angle of motor 1 is initially zero float angle_M2=0; //The measured angle of motor 2 is initially zero void read_position_M1(){ //Function to read the position of motor 1 int pulses_M1 = -encoder_M1.getPulses(); //Read the encoder data and store it in pulses_M1 angle_M1 = float(pulses_M1)/4200*2.0*pi; //Calculate the angle that corresponds with the measured encoder pulses // pc.printf("%i \t%f \t", pulses_M1, angle_M1); } void read_position_M2(){ //Function to read the position of motor 2 int pulses_M2 = -encoder_M2.getPulses(); //Read the encoder data and store it in pulses_M2 angle_M2 = float(pulses_M2)/4200*2.0*pi; //Calculate the angle that corresponds with the measured encoder pulses // pc.printf("%i \t%f \n", pulses_M2, angle_M2); } void activate_rotation_left (){ //To activate the rotation_left counter_rotation_left++; //Increase the counter_rotation_left that counts the number of time switch 1 has been pressed if (counter_rotation_left > 2){ //Because there are only 2 cases in the switch statement, case 3 = case 1 etc. counter_rotation_left=1; } rotation_left_go = true; //After increasing the counter, set the rotation_left go-flag to true } void rotation_left (){ //Function to control the rotation to the left switch (counter_rotation_left){ //Create a switch statement case 1: //For activating the rotation to the left Direction_M1 = 1; //The arm will rotate to the left Speed_M1 = speedM1; //The motor is turned on at speed_rotation rad/sec pc.printf("The arm will now rotate to the left with %f rad/sec \n", speedM1); wait(0.1f); break; case 2: //For stopping the rotation to the left Direction_M1 = 1; //The arm will rotate to the left Speed_M1 = 0; //The motor is turned off pc.printf("The arm will now stop rotating to the left \n"); wait(0.1f); break; } } void activate_rotation_right (){ //To activate the rotation_right counter_rotation_right++; //Increase the counter_rotation_right that counts the number of time switch 2 has been pressed if (counter_rotation_right> 2){ //Because there are only 2 cases in the switch statement, case 3 = case 1 counter_rotation_right=1; } rotation_right_go = true; //After increasing the counter, set the rotation_right go-flag to true } void rotation_right (){ //Function to control the rotation to the left switch (counter_rotation_right){ //Create a switch statement case 1: //For activation the rotation to the right Direction_M1 = 0; //The arm will rotate to the right Speed_M1 = speedM1; //The motor is turned on at speed_rotation rad/sec pc.printf("The arm will now rotate to the right with %f rad/sec \n", speedM1); wait(0.1f); break; case 2: //For stopping the rotation to the right Direction_M1 = 0; //The arm will rotate to the right Speed_M1 = 0; //The motor is turned off pc.printf("The arm will now stop rotating to the right \n"); wait(0.1f); break; } } void activate_translation (){ //To activate the translation counter_translation++; //Increase the counter_translation that counts the number of time switch 3 has been pressed if (counter_translation > 4){ //Because there are 4 cases in the switch statement, case 5 = case 1 counter_translation=1; } translation_go = true; //After increasing the counter, set the translation go-flag to true } void translation (){ //Function to control the translation switch (counter_translation){ //Create a switch statement case 1: //For activating the elongation of the arm Direction_M2 = 1; //The arm will get longer Speed_M2 = speedM2; //The motor is turned on at speed_translation rad/sec pc.printf("The arm will now get longer \n"); wait(0.1f); break; case 2: //For stopping the elongation of the arm Direction_M2 = 1; //The arm will get longer Speed_M2 = 0; //The motor is turned off pc.printf("The arm will now stop getting longer \n"); wait(0.1f); break; case 3: //For activating the shortening of the arm Direction_M2 = 0; //The arm will get shorter Speed_M2 = speedM2; //The motor is turned on at speed_translation rad/sec pc.printf("The arm will now get shorter \n"); wait(0.1f); break; case 4: //For stopping the shortening of the arm Direction_M2 = 0; //The arm will get shorter Speed_M2 = 0; //The motor is turned off pc.printf("The arm will now stop getting shorter \n"); wait(0.1f); break; } } void activate_gripper (){ //To activate the gripper counter_gripper++; //Increase the couter_gripper that counts the number of time switch 4 has been pressed if (counter_gripper> 2){ //Because there are only 2 cases in the switch statement, case 3 = case 1 counter_gripper=1; } gripper_go = true; //After increasing the counter, set the gripper go-flag to true } void gripper (){ //Function to control the gripper switch (counter_gripper){ //Create a switch statement case 1: //For closing the gripper gripper_servo = 0; //The gripper is now closed pc.printf("The gripper will now close \n"); wait(0.1f); break; case 2: //For opening the gripper gripper_servo = 0.3; //The gripper is now open pc.printf("The gripper will now open \n"); wait(0.1f); break; } } void check_goflags (){ //Function to check if the go-flags are activated if (rotation_left_go == true) { //If the rotation_left go-flag is true rotation_left_go = false; //Set the rotation_left go-flag to false rotation_left(); //Execute the rotation_left function } if (rotation_right_go == true) { //If the rotation_right go-flag is true rotation_right_go = false; //Set the rotation_right go-flag to false rotation_right(); //Execute the rotation_right function } if (translation_go == true) { //If the translation go-flag is true translation_go = false; //Set the translation go-flag to false translation(); //Execute the translation function } if (gripper_go == true) { //If the gripper go-flag is true gripper_go = false; //Set the gripper go-flag to false gripper(); //Execute the gripper function } } int main(){ pc.baud(115200); //Set the boud rate for serial communication pc.printf("RESET \n"); //Print "RESET" Direction_M1 = 1; //The arm will initially get longer Speed_M1 = 0; //The first motor is initially turned off Direction_M2 = 255; //The arm will initially turn left Speed_M2 = 0; //The second motor is initially turned off gripper_servo = 0.3; //The gripper is initially open encoder_M1.reset(); //Reset the encoder for motor 1 encoder_M2.reset(); //Reset the encoder for motor 2 encoder_M1_ticker.attach(&read_position_M1,0.01); //Connect the encoder_M1_ticker to the read_position_M1 function and execute at 100Hz encoder_M2_ticker.attach(&read_position_M2,0.01); //Connect the encoder_M2_ticker to the read_position_M2 function and execute at 100Hz Switch_1.rise(&activate_rotation_left); //Use switch_1 to activate the counter_rotation_left go-flag Switch_2.rise(&activate_rotation_right); //Use switch_2 to activate the counter_rotation_right go-flag Switch_3.rise(&activate_translation); //Use switch_3 to activate the counter_translation go-flag Switch_4.rise(&activate_gripper); //Use switch_4 to activate the counter_gripper go-flag check_goflags_ticker.attach(&check_goflags, 0.01); //Connect the check_goflags_ticker to the check_goflags while (true){} }