Diff: main.cpp

Revision:

5:fdc550ee3b6e

Parent:

4:4aa46b70064a

Child:

6:c23ecdd1a581

--- a/main.cpp	Tue Nov 05 14:29:05 2019 +0000
+++ b/main.cpp	Tue Nov 05 14:59:44 2019 +0000
@@ -1,63 +1,69 @@
 /*  
- Version 5 – Mike's edit 
+ Version 6 – All edit 
 */  
 
 #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);  
+
 //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 timer;                                                                            
+
 //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%  
+
 int main()  
 {  
-        //Configure the terminal to high speed  
+    //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;  
+    while (SW1 == RELEASED);
+    
     //Set initial motor speed to stop    {  
-    for(float ramp = 0.0f; ramp <= 1.0f ; ramp += 0.1)  
+    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);  
         }  
-    PWMA.write(dutyA);          //Set duty cycle hyp  
-    PWMB.write(dutyB);          //Set duty cycle hyp  
+        
+    PWMA.write(dutyA);          //Set duty cycle y  
+    PWMB.write(dutyB);          //Set duty cycle y 
     wait(0.6);
     PWMB.write(0.2f);          //turn 31deg 
     wait(1.6);  
@@ -69,93 +75,9 @@
     PWMA.write(dutyA);          //Set duty cycle x  
     PWMB.write(dutyB);          //Set duty cycle x  
     wait(2.3);  
-    PWMB.write(0.2f);          //turn 45deg 
+    PWMB.write(0.2f);          //turn 90deg 
     wait(0.7);  
-    //Array of sensor data  
-    int tA1[2];  
-    int tA2[2];  
+    
     PWMA.write(0.0f);    
-    PWMB.write(0.0f);   
-    //Instructions to user  
-    terminal.puts("Press USER button repeatedly to adapt duty (to convernge on 1 rotation/s)");  
-    //Main polling loop  
-    while(1) {  
-    //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;  
-    float fA = 1.0f/ (TA *(float)3.0E-6);  
-    terminal.printf("Average A2 Shaft: %6.2fHz \t Wheel: %6.2f\n", fA, fA/20.2f);  
-    //Reset timers  
-    timer.stop();  
-    //Wait for button press  
-    while (SW1 == 1);  
-    wait(0.2);  
-    while (SW1 == 0);  
-    wait(0.1);  
-    //******************************************  
-
-    //Adapt duty to meet 1 revolution per second  
-
-    //******************************************  
-    float wA = fA/20.2f;            //Wheel speed  
-    float deltaA = 1.0f-wA;         //Error  
-    dutyA = dutyA + deltaA*0.1f;    //Increase duty in proportion to the error  
-    //Clamp the max and min values of duty and 0.0 and 1.0 respectively  
-    dutyA = (dutyA>1.0f) ? 1.0f : dutyA;  
-    dutyA = (dutyA<0.05f) ? 0.05f : dutyA;  
-    //Update duty cycle to correct in the first direction  
-    PWMA.write(dutyA);                    
-    //Echo to the terminal  
-     terminal.printf("Adapting duty cycle to %6.2f\n", dutyA);  
-    }  
-}  
-
-  
-
-   
-
-  
-
-  
-
- 
-
- 
\ No newline at end of file
+    PWMB.write(0.0f);
+}  
\ No newline at end of file