Almir Jashari / Mbed OS Projekt_Hfecter

Projekt code für Hfecter

Dependencies:   PM2_Libary PM2_Example_PES_board

main.cpp@12:b87a1e165fb8, 2021-04-19 (annotated)

Committer:
jashaalm
Date:
Mon Apr 19 09:37:44 2021 +0000
Revision:
12:b87a1e165fb8
Parent:
11:5053ce50a993
Child:
13:35f55464048e
First Commit;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pmic 1:93d997d6b232 1 #include "mbed.h"
pmic 1:93d997d6b232 2 #include "platform/mbed_thread.h"
pmic 6:e1fa1a2d7483 3
pmic 6:e1fa1a2d7483 4 /* PM2_Libary */
pmic 1:93d997d6b232 5 #include "EncoderCounter.h"
pmic 1:93d997d6b232 6 #include "Servo.h"
pmic 3:d22942631cd7 7 #include "SpeedController.h"
pmic 9:f10b974d01e0 8 #include "FastPWM.h"
jashaalm 12:b87a1e165fb8 9 #define AUFLOESUNG 0.25412f
pmic 6:e1fa1a2d7483 10 using namespace std::chrono;
pmic 6:e1fa1a2d7483 11
pmic 8:9bb806a7f585 12 InterruptIn user_button(USER_BUTTON);
pmic 8:9bb806a7f585 13 DigitalOut led(LED1);
pmic 6:e1fa1a2d7483 14
pmic 6:e1fa1a2d7483 15 bool executeMainTask = false;
pmic 6:e1fa1a2d7483 16 Timer user_button_timer, loop_timer;
pmic 7:c0f5bb355f41 17 int Ts_ms = 50;
pmic 6:e1fa1a2d7483 18
pmic 6:e1fa1a2d7483 19 /* declaration of custom button functions */
pmic 6:e1fa1a2d7483 20 void button_fall();
pmic 6:e1fa1a2d7483 21 void button_rise();
pmic 6:e1fa1a2d7483 22
pmic 6:e1fa1a2d7483 23 /* create analog input object */
jashaalm 12:b87a1e165fb8 24 AnalogIn adc_vbat(ADC_VBAT);
pmic 6:e1fa1a2d7483 25 AnalogIn analogIn(PC_2);
pmic 6:e1fa1a2d7483 26 float dist = 0.0f;
jashaalm 12:b87a1e165fb8 27 float batt = 0.0f;
pmic 6:e1fa1a2d7483 28
pmic 6:e1fa1a2d7483 29 /* create enable dc motor digital out object */
pmic 6:e1fa1a2d7483 30 DigitalOut enable_motors(PB_15);
pmic 10:c5d85e35758c 31 /* create pwm objects */
pmic 10:c5d85e35758c 32 FastPWM pwmOut_M1(PB_13);
pmic 10:c5d85e35758c 33 FastPWM pwmOut_M2(PA_9);
pmic 10:c5d85e35758c 34 FastPWM pwmOut_M3(PA_10);
pmic 10:c5d85e35758c 35 double Ts_pwm_s = 0.00005; // this needs to be a double value (no f at the end)
pmic 6:e1fa1a2d7483 36 /* create encoder read objects */
pmic 10:c5d85e35758c 37 EncoderCounter encoderCounter_M1(PA_6, PC_7);
pmic 10:c5d85e35758c 38 EncoderCounter encoderCounter_M2(PB_6, PB_7);
pmic 10:c5d85e35758c 39 EncoderCounter encoderCounter_M3(PA_0, PA_1);
pmic 10:c5d85e35758c 40 /* create speed controller objects, only M1 and M2, M3 is used open-loop */
pmic 10:c5d85e35758c 41 float counts_per_turn = 20.0f*78.125f; // counts/turn * gearratio
pmic 10:c5d85e35758c 42 float kn = 180.0f/12.0f; // (RPM/V)
pmic 10:c5d85e35758c 43 float max_voltage = 12.0f; // adjust this to 6.0f if only one batterypack is used
pmic 10:c5d85e35758c 44 SpeedController speedController_M1(counts_per_turn, kn, max_voltage, pwmOut_M1, encoderCounter_M1);
pmic 10:c5d85e35758c 45 SpeedController speedController_M2(counts_per_turn, kn, max_voltage, pwmOut_M2, encoderCounter_M2);
pmic 6:e1fa1a2d7483 46
jashaalm 12:b87a1e165fb8 47
jashaalm 12:b87a1e165fb8 48
pmic 1:93d997d6b232 49
pmic 1:93d997d6b232 50 int main()
pmic 9:f10b974d01e0 51 {
pmic 6:e1fa1a2d7483 52 user_button.fall(&button_fall);
pmic 6:e1fa1a2d7483 53 user_button.rise(&button_rise);
pmic 6:e1fa1a2d7483 54 loop_timer.start();
pmic 6:e1fa1a2d7483 55
pmic 10:c5d85e35758c 56 /* enable hardwaredriver dc motors */
pmic 10:c5d85e35758c 57 enable_motors = 1;
pmic 10:c5d85e35758c 58 /* initialize pwm for motor M3*/
pmic 10:c5d85e35758c 59 pwmOut_M3.period(Ts_pwm_s);
pmic 6:e1fa1a2d7483 60 /* set pwm output zero at the beginning, range: 0...1 -> u_min...u_max */
pmic 10:c5d85e35758c 61 pwmOut_M3.write(0.5);
pmic 9:f10b974d01e0 62
pmic 6:e1fa1a2d7483 63
pmic 1:93d997d6b232 64 while (true) {
jashaalm 12:b87a1e165fb8 65 batt = adc_vbat.read()* (3.3f/AUFLOESUNG);
pmic 6:e1fa1a2d7483 66 loop_timer.reset();
pmic 6:e1fa1a2d7483 67
pmic 6:e1fa1a2d7483 68 /* ------------- start hacking ------------- -------------*/
pmic 6:e1fa1a2d7483 69
pmic 6:e1fa1a2d7483 70 if (executeMainTask) {
pmic 6:e1fa1a2d7483 71
pmic 6:e1fa1a2d7483 72 /* read analog input */
pmic 6:e1fa1a2d7483 73 dist = analogIn.read() * 3.3f;
pmic 6:e1fa1a2d7483 74
pmic 10:c5d85e35758c 75 /* command a speed to dc motors M1 and M2*/
jashaalm 11:5053ce50a993 76 speedController_M1.setDesiredSpeedRPS( 2.0f);
jashaalm 12:b87a1e165fb8 77 // speedController_M2.setDesiredSpeedRPS(-0.5f);
pmic 10:c5d85e35758c 78 /* write output voltage to motor M3 */
pmic 10:c5d85e35758c 79 pwmOut_M3.write(0.75);
pmic 6:e1fa1a2d7483 80
jashaalm 12:b87a1e165fb8 81
pmic 6:e1fa1a2d7483 82 /* visual feedback that the main task is executed */
pmic 6:e1fa1a2d7483 83 led = !led;
pmic 9:f10b974d01e0 84
pmic 1:93d997d6b232 85 } else {
pmic 6:e1fa1a2d7483 86
pmic 6:e1fa1a2d7483 87 dist = 0.0f;
pmic 1:93d997d6b232 88
pmic 10:c5d85e35758c 89 speedController_M1.setDesiredSpeedRPS(0.0f);
jashaalm 12:b87a1e165fb8 90 // speedController_M2.setDesiredSpeedRPS(0.0f);
pmic 10:c5d85e35758c 91 pwmOut_M3.write(0.5);
pmic 6:e1fa1a2d7483 92
jashaalm 12:b87a1e165fb8 93
pmic 6:e1fa1a2d7483 94
pmic 6:e1fa1a2d7483 95 led = 0;
pmic 1:93d997d6b232 96 }
pmic 6:e1fa1a2d7483 97
pmic 10:c5d85e35758c 98 /* do only output via serial what's really necessary (this makes your code slow)*/
jashaalm 12:b87a1e165fb8 99 printf("%3.3f, %3.3f\n, %3d, %3.3f, %3.3f;\r\n",
pmic 10:c5d85e35758c 100 dist,
jashaalm 12:b87a1e165fb8 101 batt,
pmic 10:c5d85e35758c 102 encoderCounter_M3.read(),
pmic 10:c5d85e35758c 103 speedController_M1.getSpeedRPS(),
pmic 10:c5d85e35758c 104 speedController_M2.getSpeedRPS());
pmic 8:9bb806a7f585 105
pmic 6:e1fa1a2d7483 106 /* ------------- stop hacking ------------- -------------*/
pmic 6:e1fa1a2d7483 107
pmic 6:e1fa1a2d7483 108 int T_loop_ms = duration_cast<milliseconds>(loop_timer.elapsed_time()).count();
pmic 6:e1fa1a2d7483 109 int dT_loop_ms = Ts_ms - T_loop_ms;
pmic 6:e1fa1a2d7483 110 thread_sleep_for(dT_loop_ms);
pmic 1:93d997d6b232 111 }
pmic 1:93d997d6b232 112 }
pmic 6:e1fa1a2d7483 113
pmic 6:e1fa1a2d7483 114 void button_fall()
pmic 6:e1fa1a2d7483 115 {
pmic 6:e1fa1a2d7483 116 user_button_timer.reset();
pmic 6:e1fa1a2d7483 117 user_button_timer.start();
pmic 6:e1fa1a2d7483 118 }
pmic 6:e1fa1a2d7483 119
pmic 6:e1fa1a2d7483 120 void button_rise()
pmic 6:e1fa1a2d7483 121 {
pmic 6:e1fa1a2d7483 122 int t_button_ms = duration_cast<milliseconds>(user_button_timer.elapsed_time()).count();
pmic 6:e1fa1a2d7483 123 user_button_timer.stop();
pmic 8:9bb806a7f585 124 if (t_button_ms > 200) {
pmic 6:e1fa1a2d7483 125 executeMainTask = !executeMainTask;
pmic 8:9bb806a7f585 126 }
pmic 6:e1fa1a2d7483 127 }