Script for controlling 2 DC-motors and a gripper-servo using buttons
Dependencies: MODSERIAL QEI Servo mbed
Revision 13:ea065d364277, committed 2016-10-24
- Comitter:
- huismaja
- Date:
- Mon Oct 24 11:42:49 2016 +0000
- Parent:
- 12:35a81d6c6505
- Commit message:
- Motor_control_buttons
Changed in this revision
main.cpp | Show annotated file Show diff for this revision Revisions of this file |
diff -r 35a81d6c6505 -r ea065d364277 main.cpp --- a/main.cpp Wed Oct 19 11:54:55 2016 +0000 +++ b/main.cpp Mon Oct 24 11:42:49 2016 +0000 @@ -15,11 +15,13 @@ DigitalOut Direction_M1(D7); //To control the translation speed of the arm Servo gripper_servo(D13); //To control the gripper -InterruptIn Switch_1(SW2); //Switch 1 to control the rotation to the left -InterruptIn Switch_2(SW3); //Switch 2 to control the rotation to the right +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 @@ -39,19 +41,19 @@ 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; -float angle_M2=0; +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); + 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); + 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 @@ -65,13 +67,13 @@ 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 = 0; //The arm will rotate 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 = 0; //The arm will rotate 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); @@ -90,13 +92,13 @@ 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 = 1; //The arm will rotate 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 = 1; //The arm will rotate 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); @@ -157,13 +159,32 @@ wait(0.1f); break; case 2: //For opening the gripper - gripper_servo = 1; //The gripper is now open + 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" @@ -172,34 +193,19 @@ 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 = 1; //The gripper is initially open + 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 rotation_left go-flag + 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 - while (true){ - 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 - } - } + check_goflags_ticker.attach(&check_goflags, 0.01); //Connect the check_goflags_ticker to the check_goflags + + while (true){} } \ No newline at end of file