Jesse Kaiser / Mbed 2 deprecated Motorcontrol_Gr6

Script voor aansturen motoren

Dependencies:   Encoder HIDScope MODSERIAL mbed-dsp mbed

main.cpp@6:f260176f704b, 2014-10-23 (annotated)

Committer:
jessekaiser
Date:
Thu Oct 23 10:26:25 2014 +0000
Revision:
6:f260176f704b
Parent:
5:e4b9cc904928
Child:
7:697293226e5e
Motor aansturen met toetsenbord.;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jessekaiser 0:d5d3b731340c 1 #include "mbed.h"
jessekaiser 0:d5d3b731340c 2 #include "encoder.h"
jessekaiser 0:d5d3b731340c 3 #include "HIDScope.h"
jessekaiser 0:d5d3b731340c 4
jessekaiser 6:f260176f704b 5 #define TSAMP 0.005
jessekaiser 0:d5d3b731340c 6 #define K_P (0.1)
jessekaiser 0:d5d3b731340c 7 #define K_I (0.03 *TSAMP)
jessekaiser 0:d5d3b731340c 8 #define K_D (0.001 /TSAMP)
jessekaiser 0:d5d3b731340c 9 #define I_LIMIT 1.
jessekaiser 0:d5d3b731340c 10
jessekaiser 0:d5d3b731340c 11 #define M1_PWM PTC8 //blauw
jessekaiser 0:d5d3b731340c 12 #define M1_DIR PTC9 //groen
jessekaiser 2:11076f69e0a7 13 #define M2_PWM PTA5 //blauw
jessekaiser 2:11076f69e0a7 14 #define M2_DIR PTA4 //groen
jessekaiser 0:d5d3b731340c 15
jessekaiser 3:dcc4cebba0d7 16 Serial pc(USBTX, USBRX);
jessekaiser 4:db3dad7e53e3 17 DigitalOut led1(LED_RED);
jessekaiser 3:dcc4cebba0d7 18
jessekaiser 3:dcc4cebba0d7 19
jessekaiser 0:d5d3b731340c 20 void clamp(float * in, float min, float max);
jessekaiser 0:d5d3b731340c 21 float pid(float setpoint, float measurement);
jessekaiser 0:d5d3b731340c 22 volatile bool looptimerflag;
jessekaiser 5:e4b9cc904928 23 HIDScope scope(2);
jessekaiser 0:d5d3b731340c 24
jessekaiser 3:dcc4cebba0d7 25
jessekaiser 0:d5d3b731340c 26 void setlooptimerflag(void)
jessekaiser 0:d5d3b731340c 27 {
jessekaiser 0:d5d3b731340c 28 looptimerflag = true;
jessekaiser 0:d5d3b731340c 29 }
jessekaiser 0:d5d3b731340c 30
jessekaiser 3:dcc4cebba0d7 31
jessekaiser 3:dcc4cebba0d7 32
jessekaiser 0:d5d3b731340c 33 int main()
jessekaiser 3:dcc4cebba0d7 34 {
jessekaiser 3:dcc4cebba0d7 35 //Let op dat de jumpers goed staan als het motortje niet wilt draaien. De E1 jumper moet onder de nummer 7 pin. De locatie van de M1 pin
jessekaiser 3:dcc4cebba0d7 36 //bepaalt of de motor CW of CCW draait.
jessekaiser 0:d5d3b731340c 37 //start Encoder-> first pin should be PTDx or PTAx, second pin doesn't matter
jessekaiser 3:dcc4cebba0d7 38
jessekaiser 3:dcc4cebba0d7 39 //motor 25D
jessekaiser 0:d5d3b731340c 40 Encoder motor1(PTD3,PTD5); //wit, geel
jessekaiser 6:f260176f704b 41 PwmOut pwm_motor1(M2_PWM); //
jessekaiser 2:11076f69e0a7 42 pwm_motor1.period_us(75); //10kHz PWM frequency
jessekaiser 6:f260176f704b 43 DigitalOut motordir1(M2_DIR);
jessekaiser 3:dcc4cebba0d7 44
jessekaiser 3:dcc4cebba0d7 45 //motor2 37D
jessekaiser 2:11076f69e0a7 46 Encoder motor2(PTD2, PTD0); //wit, geel
jessekaiser 6:f260176f704b 47 PwmOut pwm_motor2(M1_PWM);
jessekaiser 2:11076f69e0a7 48 pwm_motor2.period_us(75);
jessekaiser 6:f260176f704b 49 DigitalOut motordir2(M1_DIR);
jessekaiser 3:dcc4cebba0d7 50
jessekaiser 6:f260176f704b 51 //char c ='0';
jessekaiser 0:d5d3b731340c 52 while(1) {
jessekaiser 6:f260176f704b 53 wait(13);
jessekaiser 4:db3dad7e53e3 54 pwm_motor1.write(1);
jessekaiser 6:f260176f704b 55
jessekaiser 6:f260176f704b 56
jessekaiser 6:f260176f704b 57
jessekaiser 5:e4b9cc904928 58
jessekaiser 5:e4b9cc904928 59 wait(0.01);
jessekaiser 6:f260176f704b 60 scope.set(0, motor1.getPosition());
jessekaiser 5:e4b9cc904928 61 scope.set(1, motor2.getPosition());
jessekaiser 5:e4b9cc904928 62 scope.send();
jessekaiser 5:e4b9cc904928 63 /*do {
jessekaiser 4:db3dad7e53e3 64
jessekaiser 4:db3dad7e53e3 65 if(pc.readable()) {
jessekaiser 4:db3dad7e53e3 66 c = pc.getc();
jessekaiser 4:db3dad7e53e3 67 }
jessekaiser 5:e4b9cc904928 68 } while((c !='1'));
jessekaiser 0:d5d3b731340c 69
jessekaiser 5:e4b9cc904928 70 c = '0';
jessekaiser 5:e4b9cc904928 71 pwm_motor1.write(0.5);
jessekaiser 5:e4b9cc904928 72 motordir1.write(0);
jessekaiser 5:e4b9cc904928 73 wait(3);
jessekaiser 5:e4b9cc904928 74
jessekaiser 6:f260176f704b 75 }*/
jessekaiser 6:f260176f704b 76 }
jessekaiser 0:d5d3b731340c 77 }