Diff: main.cpp

Revision:

7:9c77eca4158a

Parent:

6:c23ecdd1a581

Child:

8:f2b6ef8c5eb8

--- a/main.cpp	Tue Nov 12 12:40:11 2019 +0000
+++ b/main.cpp	Thu Nov 14 16:55:17 2019 +0000
@@ -1,83 +1,215 @@
-/*  
- Version 7 – Mike edit 
-*/  
-
-#include "mbed.h"  
-
-//Motor PWM (speed)  
-PwmOut PWMA(PA_8);  
-PwmOut PWMB(PB_4);  
-
-//Motor Direction  
-DigitalOut DIRA(PA_9);  
-DigitalOut DIRB(PB_10); 
-
-//On board switch  
-DigitalIn SW1(USER_BUTTON);    
-
-//Use the serial object so we can use higher speeds  
-Serial terminal(USBTX, USBRX);  
+/*
+ 
+** ELEC143 Coursework Sample Code **
+ 
+Author: Dr Nicholas Outram
+Date: 09-10-2015
+Version: 1.0
+ 
+This sample code demonstrates the following:
+ 
+- How to control the motor speed and direction
+- How to measure motor speed using software polling (assuming a forward direction)
+ 
+Notes:
+ 
+1. This code is very monolithic. I have made no attempt to factor this into meaningful and
+reuseable functions. I will be looking to see you factor your code into different functions,
+and maybe even into seperate C (or CPP) files.
+ 
+2. This code is only lightly commented. The commenting is sufficient to
+explain the purpose of each step in the code. Do not assume this is always sufficient.
+ 
+You may adapt this code for your own purposes. However, you may be questioned about any of the
+code you use. Your answers will affect your grade to some extent.
+ 
+*/
+#include "mbed.h"
+ 
+//Status LED
+DigitalOut led(LED1);
+ 
+//Motor PWM (speed)
+PwmOut PWMA(PA_8);
+PwmOut PWMB(PB_4);
+ 
+//Motor Direction
+DigitalOut DIRA(PA_9);
+DigitalOut DIRB(PB_10);
+ 
+//Hall-Effect Sensor Inputs
+DigitalIn HEA1(PB_2);
+DigitalIn HEA2(PB_1);
+DigitalIn HEB1(PB_15);
+DigitalIn HEB2(PB_14);
 
-//Timer used for measuring speeds  
-Timer timer;                                                                            
-
-//Enumerated types  
-enum DIRECTION   {FORWARD=0, REVERSE};  
-enum PULSE       {NOPULSE=0, PULSE};  
-enum SWITCHSTATE {PRESSED=0, RELEASED};  
+ 
+//On board switch
+DigitalIn SW1(USER_BUTTON);
+ 
+//Use the serial object so we can use higher speeds
+Serial terminal(USBTX, USBRX);
+ 
+//Timer used for measuring speeds
+Timer timer;
+Timer timer1;
+ 
+//Enumerated types
+enum DIRECTION   {FORWARD=0, REVERSE};
+enum PULSE       {NOPULSE=0, PULSE};
+enum SWITCHSTATE {PRESSED=0, RELEASED};
+ 
+//Debug GPIO
+DigitalOut probe(D10);
+ 
+//Duty cycles
+float dutyA = 1.0f; //100%
+float dutyB = 1.0f; //100%
+//Array of sensor data
+int tA1[2];
+int tA2[2];
+float dis;
+float distance;
 
-//Debug GPIO  
-DigitalOut probe(D10);  
+void time()
+        {
+            //Reset timer and Start
+        timer.reset();
+        timer.start();
+ 
+        //*********************************************************************
+        //FIRST TIME - SYNCHRONISE (YOU SHOULD NOT NEED THIS ONCE IT's RUNNING)
+        //*********************************************************************
+        
+        //Wait for rising edge of A1 and log time
+        while (HEA1 == NOPULSE);
+        //Wait for rising edge of A2 and log time (30 degrees?)
+        while (HEA2 == NOPULSE);
+        //Wait for falling edge of A1
+        while (HEA1 == PULSE);
+        //Wait for falling edge of A2
+        while (HEA2 == PULSE);
+ 
+        //**********************
+        //TIME THE FULL SEQUENCE
+        //**********************
+        
+        //Wait for rising edge of A1 and log time
+        while (HEA1 == NOPULSE);
+        tA1[0] = timer.read_us();
+ 
+        //Wait for rising edge of A2 and log time (30 degrees?)
+        while (HEA2 == NOPULSE);
+        tA2[0] = timer.read_us();
+ 
+        //Wait for falling edge of A1
+        while (HEA1 == PULSE);
+        tA1[1] = timer.read_us();
+                
+        //Wait for falling edge of A2
+        while (HEA2 == PULSE);
+        tA2[1] = timer.read_us();
+ 
+ 
+        terminal.printf("tA1(0) = %d\n", tA1[0]);
+        terminal.printf("tA1(1) = %d\n", tA1[1]);
+        terminal.printf("tA2(0) = %d\n", tA2[0]);
+        terminal.printf("tA2(1) = %d\n", tA2[1]);
+ 
+        //Calculate the frequency of rotation
+        float TA1 = 2.0f * (tA1[1]-tA1[0]);
+        float TA2 = 2.0f * (tA2[1]-tA2[0]);
+        float TA = (TA1 + TA2) * 0.5f;
 
-//Duty cycles  
-float dutyA = 1.0f; //100%  
-float dutyB = 1.0f; //100%  
-
-int main()  
-{  
-    //Configure the terminal to high speed  
-    terminal.baud(115200); 
+        dis = timer1.read_us();
+        float mm = ((TA*3)*20.8)/175.9;
+        distance = dis/(mm);
+        float fA = 1.0f/ (TA *(float)3.0E-6);
+        terminal.printf("Average A2 Shaft: %6.2fHz \t Wheel: %6.2f \t distance: %6.2f\n", fA, fA/20.8f, distance);
+        }
+         
+int main()
+{
+    timer1.reset();
     
-    //Set initial motor direction  
-    DIRA = FORWARD;  
-    DIRB = FORWARD;  
-    
-    //Set motor period to 100Hz  
-    PWMA.period_ms(10);  
-    PWMB.period_ms(10);  
+    //Configure the terminal to high speed
+    terminal.baud(115200);
+ 
+    //Set initial motor direction
+    DIRA = FORWARD;
+    DIRB = FORWARD;
+ 
+    //Set motor period to 100Hz
+    PWMA.period_ms(10);
+    PWMB.period_ms(10);
+ 
+    //Set initial motor speed to stop
+    PWMA.write(0.0f);           //0% duty cycle
+    PWMB.write(0.0f);           //0% duty cycle
+ 
+    //Wait for USER button (blue pull-down switch) to start
+    terminal.puts("Press USER button to start");
+    led = 0;
+    while (SW1 == RELEASED);
+    led = 1;
+ 
+    //Set initial motor speed to stop
+    PWMA.write(0.0f);          //Set duty cycle (%)
+    PWMB.write(0.0f);          //Set duty cycle (%)
+ 
+    //Wait - give time to start running
+    wait(1.0);
+ 
+
     
-    //Set initial motor speed to stop  
-    PWMA.write(0.0f);           //0% duty cycle  
-    PWMB.write(0.0f);           //0% duty cycle  
     
-    //Wait for USER button (blue pull-down switch) to start  
-    terminal.puts("Press USER button to start");  
-    while (SW1 == RELEASED);
     
-    //Set initial motor speed to stop    {  
-    for(float ramp = 0.0f; ramp <= 1.0f ; ramp += 0.2)  
-        {  
-            PWMA.write(ramp);          //Set duty cycle y  
-            PWMB.write(ramp);          //Set duty cycle y  
-            wait(1);  
-        }  
+    //Main polling loop
+    while(1)
+    {
         
-    PWMA.write(dutyA);          //Set duty cycle y  
-    PWMB.write(dutyB);          //Set duty cycle y 
-    wait(1.1);
-    PWMB.write(0.2f);          //turn 31deg 
-    wait(1.3);  
-    PWMA.write(dutyA);          //Set duty cycle hyp  
-    PWMB.write(dutyB);          //Set duty cycle hyp  
-    wait(4.4);  
-    PWMB.write(0.2f);          //turn 59deg 
-    wait(1.1);  
-    PWMA.write(dutyA);          //Set duty cycle x  
-    PWMB.write(dutyB);          //Set duty cycle x  
-    wait(2.4);  
-    PWMB.write(0.2f);          //turn 90deg 
-    wait(0.7);  
-    
-    PWMA.write(0.0f);    
-    PWMB.write(0.0f);
-}  
\ No newline at end of file
+        while(distance <= 1250)  
+            {  
+               PWMA.write(dutyA);          //Set duty cycle y  
+               PWMB.write(dutyB);
+               time();
+            }  
+        while(distance <= 1331)  
+            {  
+               PWMA.write(0.0F);           
+               PWMB.write(dutyB);
+               time();
+            }
+        while(distance <= 2788)  
+            {  
+               PWMA.write(dutyA);           
+               PWMB.write(dutyB);
+               time();
+            }
+        while(distance <= 3544)  
+            {  
+               PWMA.write(0.0F);           
+               PWMB.write(dutyB);
+               time();
+            }
+        while(distance <= 4294)  
+            {  
+               PWMA.write(dutyA);           
+               PWMB.write(dutyB);
+               time();
+            }
+        while(distance <= 4963)  
+            {  
+               PWMA.write(0);           
+               PWMB.write(dutyB);
+               time();
+            }  
+       
+        PWMA.write(0.0f);    
+        PWMB.write(0.0f);
+        timer.stop();   
+        break;
+    }
+    wait(500);
+}
+ 
\ No newline at end of file