Juan Carlos Suárez Barón
PWM with L298 for two DC Motors.
Dependencies: mbed FPointer TextLCD1 keypad
Fork of
L298
by 
Juan Carlos Suárez Barón
Revision 5:486d0a696705, committed 2016-07-26
- Comitter:
- juanitoinig84
- Date:
- Tue Jul 26 20:49:33 2016 +0000
- Parent:
- 4:72727d4c1d72
- Commit message:
- Primeros pasos con el men?.
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/FPointer.lib Tue Jul 26 20:49:33 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/AjK/code/FPointer/#56e309e76c19
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/TextLCD.lib Tue Jul 26 20:49:33 2016 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/users/satelite/code/TextLCD1/#f075d2b4ac2d
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/keypad.lib Tue Jul 26 20:49:33 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/yoonghm/code/keypad/#e48ba5b4c497
--- a/main.cpp Thu Jul 14 22:49:36 2016 +0000
+++ b/main.cpp Tue Jul 26 20:49:33 2016 +0000
@@ -1,52 +1,156 @@
#include "mbed.h"
+#include "TextLCD.h"
+#include "keypad.h"
+#include "stdlib.h"
+
+/***********************Macros*****************/
# define ON 1
# define OFF 0
-////////////////********Definitions***********///////
+/************************Definitions and MCU's Configuration***********/
+ ///Switches///
DigitalIn sw3(PTA4);
+///////LEDS///////
DigitalOut led_red(LED_RED);
DigitalOut led_green(LED_GREEN);
DigitalOut led_blue(LED_BLUE);
-InterruptIn sw2(SW2);
+///////////////LCD////////////////
+TextLCD lcd(PTC3,PTC2,PTA2,PTB23,PTA1,PTB9,TextLCD::LCD20x4); // RS, E, D4, D5, D6, D7 ////4, 6, 11, 12, 13, 14 (REV 3)
+ //PTD1,PTD3,PTD2,PTD0,PTC4,PTA0
-Timer debounce; // define debounce timer
+//TextLCD lcd(PTD1,PTD3,PTD2,PTD0,PTC4,PTE26,TextLCD::LCD20x4);
+/////Interrupts//////
+InterruptIn sw2(SW2);
Serial pc(USBTX,USBRX); // tx,rx
-DigitalOut in1(PTC3);
-DigitalOut in2(PTC2);
-PwmOut ena(PTA2);
+
+/////////Motor A///////////////
+DigitalOut in1(PTD0); //IN1 L298
+DigitalOut in2(PTC4); //IN2 L298
+PwmOut ena(PTA0); //PWM ENA
+
+///////////Motor B//////////////
+DigitalOut in3(PTD1); //IN3 L298
+DigitalOut in4(PTD3); //IN4 L298
+PwmOut enb(PTD2); //PWM ENB
+
+///////////Solenoids////////////
+DigitalOut Valve1(PTE24); //Valve 1
+DigitalOut Valve2(PTE25); //Valve 2
+DigitalOut Valve3(PTB20); //Valve 3
+/////////////Matrix Keypad////////////////
+char Keytable[] = { '1', '2', '3', 'A', // Matrix keypad return characters
+ '4', '5', '6', 'B',
+ '7', '8', '9', 'C',
+ '*', '0', '#', 'D'
+ };
-DigitalOut in3(PTD1);
-DigitalOut in4(PTD2);
-PwmOut enb(PTD3);
+int Keytablei[] = { 1, 2, 3, 10, // Matrix Keypad
+ 4, 5, 6, 11,
+ 7, 8, 9, 12,
+ 13,0,14, 15
+ };
+////////////////***************Global Variables*********************////////////////
+Ticker Time1;
+Ticker Time2;
+Timer debounce; // define debounce timer
+
+int kp = 0, ki = 0, kd = 0, sp = 0, cont, entrada, iniciado, boton;
+
+enum eEstados {
+ Muestra,
+ Calibracion,
+ Lavado
+ } estado;
///////////****Prototype Functions*******//////////
void stop1(void);
void turnRight1(void);
void turnLeft1(void);
-void toggle(void); // function prototype
-
///////////////////////////////////////////////////
+
+
+// Keypad Interruption Routine
+uint32_t cbAfterInput(uint32_t key)
+{
+ if((Keytable[key]) == 'A') { // Boton Avanzar
+ entrada = 1;
+ cont = 0;
+ }
+ if((Keytable[key]) == 'B') { // Boton Volver
+ entrada = 2;
+ cont = 0;
+ }
+ if((Keytable[key]) == 'D') { // Boton Establecer
+ entrada = 3;
+ }
+ boton = Keytablei[key]; // Asigna el entero correspondiente al boton presionado
+ return 0;
+}
+
+
+///Main Routne
int main()
-{
-debounce.start();
-ena.period(1.0/10000.0);// 5Khz period
- sw2.rise(&turnRight1); // attach the address of the toggle
- sw2.fall(&stop1);
-//pc.baud(115200);
+{
+ ena.period(1.0/10000.0);// 10Khz period, PWM freq
+ Keypad keypad(PTC8,PTC1,PTB19,PTB18,PTC5, PTC7, PTC0,PTC9); // Configura pines para teclado
+ keypad.CallAfterInput(&cbAfterInput); // Rutina interrupcion teclado
+ keypad.Start(); // Inicia teclado
+ //pc.baud(115200);
+ lcd.writeCommand(0x0C); // Apaga cursor
+ lcd.locate(0,0); lcd.printf("LABB");
+ lcd.locate(0,1); lcd.printf("EASY BOD");
+ lcd.locate(0,2); lcd.printf("Copyright,LABB.");
+ lcd.locate(0,3); lcd.printf(".............");
+ wait(3);
+ lcd.cls(); //Clear Screen
+ lcd.locate (0,0); lcd.printf("******OPCIONES******");
+ lcd.locate (0,1); lcd.printf("1.MUESTRA");
+ lcd.locate (0,2); lcd.printf("2.CAL 1");
+ lcd.locate (0,3); lcd.printf("3.LAVADO");
+ lcd.locate (11,1); lcd.printf("----->");
+ lcd.locate (11,2); lcd.printf("----->");
+ lcd.locate (11,3); lcd.printf("----->");
+ entrada = 0;
+ iniciado = 0;
+ cont = 0;
+ boton = 99;
+ wait(0.5);
+ lcd.writeCommand(0x0F);
+ lcd.writeCommand(0x86); // Muestra cursor
- while (true) {
+ while (true) {//while1
- sw2.rise(&turnRight1); // attach the address of the toggle
- sw2.fall(&stop1);
-
- /* if (sw3 == ON){
+ switch(estado){
+
+ //////**********MUESTRA******///
+ case Muestra:
+
+ if(entrada == 1) {
+ estado = Calibracion;
+ lcd.writeCommand(0x8E);
+ entrada = 0;
+ cont = 0;
+ } else if(entrada == 2) {
+ estado = Lavado;
+ lcd.writeCommand(0xCE);
+ entrada = 0;
+ }
+ break;
+ //////////********CALIBRACION*******//////
+ case Calibracion:
+
+
+ break;
+ /////////*********LAVADO********/////////
+ case Lavado:
+ if (sw3 == ON){
led_red = ON;
turnRight1();
ena.write(0.50f);
@@ -55,9 +159,13 @@
led_red = OFF;
stop1();
wait(0.5f);
- }*/
+ }
+
+ break;
+
+ }//Switch
- }
+ }//while1
}
///////////////***********FUNCTIONS***********************//////////////
@@ -76,13 +184,8 @@
}
void turnLeft1() {
- led_blue = ON;
+ //led_blue = ON;
in1 = OFF;
in2 = ON;
}
-void toggle() {
-if (debounce.read_ms()>200) // only allow toggle if debounce timer
-led_red=!led_red; // has passed 200 ms
- debounce.reset(); // restart timer when the toggle is performed
-}
\ No newline at end of file