Lisa Meijer / Mbed 2 deprecated Switch_motoren_motoren

Met servo motor

Dependencies:   MODSERIAL QEI mbed

Fork of Switch_motoren_motoren by Lian Beenhakker

main.cpp@1:52a95e4b5662, 2016-10-26 (annotated)

Committer:
LBeen
Date:
Wed Oct 26 07:41:27 2016 +0000
Revision:
1:52a95e4b5662
Parent:
0:602d9d743817
Child:
2:725188195139
Switch

Who changed what in which revision?

UserRevisionLine numberNew contents of line
LBeen 0:602d9d743817 1 #include "mbed.h"
LBeen 0:602d9d743817 2 #include "MODSERIAL.h"
LBeen 0:602d9d743817 3 #include "QEI.h"
LBeen 0:602d9d743817 4
LBeen 0:602d9d743817 5 MODSERIAL pc(USBTX, USBRX);
LBeen 0:602d9d743817 6
LBeen 0:602d9d743817 7 //Pinnen voor spieren
LBeen 0:602d9d743817 8 AnalogIn Spier1 (A0);
LBeen 0:602d9d743817 9 AnalogIn Spier2 (A1);
LBeen 0:602d9d743817 10 InterruptIn Spier3 (D2);
LBeen 0:602d9d743817 11
LBeen 0:602d9d743817 12 //Pinnen voor motor
LBeen 0:602d9d743817 13 DigitalOut motor1direct (D4);
LBeen 0:602d9d743817 14 DigitalOut motor2direct (D7);
LBeen 0:602d9d743817 15 PwmOut motor1pwm (D5);
LBeen 0:602d9d743817 16 PwmOut motor2pwm (D6);
LBeen 0:602d9d743817 17 //QEI Encoder1(D10, D11, NC, 32); // met encoder onthouden waar je bent
LBeen 0:602d9d743817 18 //QEI Encoder2(D12, D13, NC, 32); // met encoder onthouden waar je bent
LBeen 0:602d9d743817 19
LBeen 0:602d9d743817 20 //Define variables
LBeen 0:602d9d743817 21 volatile int indrukken = 0;
LBeen 0:602d9d743817 22 volatile int i = 0;
LBeen 0:602d9d743817 23 volatile float MV = 0;
LBeen 0:602d9d743817 24 //const float maxVelocity = 8.4;
LBeen 0:602d9d743817 25 //const float MotorGain=8.4;
LBeen 0:602d9d743817 26
LBeen 1:52a95e4b5662 27
LBeen 1:52a95e4b5662 28 //Als straks de kalibratie af is, dan moet Spier1 > 0.4 en Spier2 >0.4 nog aangepast worden met boven threshold of niet
LBeen 1:52a95e4b5662 29
LBeen 0:602d9d743817 30 //Motorvalue is een waarde tussen -1 en 1 waarmee de motor een richting en een snelheid krijgt
LBeen 0:602d9d743817 31 float GetMotorValue() //We nemen aan dat je maar één spier tegelijkertijd kan aanspannen
LBeen 0:602d9d743817 32 {
LBeen 0:602d9d743817 33 pc.printf("\n\n\n");
LBeen 0:602d9d743817 34 if(Spier1 > 0.4f && Spier2 < 0.4f) //Spier komt boven de threshold uit en spier2 niet
LBeen 0:602d9d743817 35 {
LBeen 0:602d9d743817 36 MV = 0.5;
LBeen 0:602d9d743817 37 pc.printf("Spier 1 is aangespannen\r\n");
LBeen 0:602d9d743817 38 }
LBeen 0:602d9d743817 39 else if(Spier1 < 0.4f && Spier2 > 0.4f)
LBeen 0:602d9d743817 40 {
LBeen 0:602d9d743817 41 MV = -0.5;
LBeen 0:602d9d743817 42 pc.printf("Spier 2 is aangespannen\r\n");
LBeen 0:602d9d743817 43 }
LBeen 0:602d9d743817 44 else if(Spier1 <0.4f && Spier2 <0.4f)
LBeen 0:602d9d743817 45 {
LBeen 0:602d9d743817 46 MV = 0;
LBeen 0:602d9d743817 47 pc.printf("Geen spier is aangespannen\r\n");
LBeen 0:602d9d743817 48 }
LBeen 0:602d9d743817 49 else
LBeen 0:602d9d743817 50 {
LBeen 0:602d9d743817 51 MV = 0;
LBeen 0:602d9d743817 52 pc.printf("Beide spieren zijn aangespannen\r\n");
LBeen 0:602d9d743817 53 }
LBeen 0:602d9d743817 54 pc.printf("de motorvalue is %f\n\n\r",MV);
LBeen 0:602d9d743817 55 return MV;
LBeen 0:602d9d743817 56 }
LBeen 0:602d9d743817 57
LBeen 0:602d9d743817 58 //Aan de hand van de motorvalue wordt de motor aangezet
LBeen 0:602d9d743817 59 void SetMotor1(float MV)
LBeen 0:602d9d743817 60 {
LBeen 0:602d9d743817 61 //Given -1<=motorValue<=1, this sets the PWM and direction
LBeen 0:602d9d743817 62 // bits for motor 1. Positive value makes motor rotating
LBeen 0:602d9d743817 63 // clockwise. motorValues outside range are truncated to
LBeen 0:602d9d743817 64 // within range
LBeen 0:602d9d743817 65 if (MV >=0)
LBeen 0:602d9d743817 66 {
LBeen 0:602d9d743817 67 motor1direct = 1;
LBeen 0:602d9d743817 68 pc.printf("motordirect=1\n\r"); //De motor draait in positieve richting, tegen de klok in
LBeen 0:602d9d743817 69 }
LBeen 0:602d9d743817 70 else
LBeen 0:602d9d743817 71 {
LBeen 0:602d9d743817 72 motor1direct = 0;
LBeen 0:602d9d743817 73 pc.printf("motordirect=0\n\r"); //De motor draait in negatieve richting, met de klok mee
LBeen 0:602d9d743817 74 }
LBeen 0:602d9d743817 75 if (fabs(MV)>1)
LBeen 0:602d9d743817 76 {
LBeen 0:602d9d743817 77 motor1pwm = 1;
LBeen 0:602d9d743817 78 pc.printf("motorpwm = 1\n\r"); //De snelheid waarmee de motor draait is maximaal, dus 1
LBeen 0:602d9d743817 79 }
LBeen 0:602d9d743817 80 else
LBeen 0:602d9d743817 81 {
LBeen 0:602d9d743817 82 motor1pwm = fabs(MV);
LBeen 0:602d9d743817 83 pc.printf("motorpwm = %f\n\n\r",fabs(MV)); //De snelheid waarmee de motor draait is de absolute waarde van de motorvalue
LBeen 0:602d9d743817 84 }
LBeen 0:602d9d743817 85 }
LBeen 0:602d9d743817 86
LBeen 0:602d9d743817 87 void SetMotor2(float MV)
LBeen 0:602d9d743817 88 {
LBeen 0:602d9d743817 89 //Given -1<=motorValue<=1, this sets the PWM and direction
LBeen 0:602d9d743817 90 // bits for motor 1. Positive value makes motor rotating
LBeen 0:602d9d743817 91 // clockwise. motorValues outside range are truncated to
LBeen 0:602d9d743817 92 // within range
LBeen 0:602d9d743817 93 if (MV >=0)
LBeen 0:602d9d743817 94 {
LBeen 0:602d9d743817 95 motor2direct = 1;
LBeen 0:602d9d743817 96 pc.printf("motordirect=1\n\r"); //De motor draait in positieve richting, tegen de klok in
LBeen 0:602d9d743817 97 }
LBeen 0:602d9d743817 98 else
LBeen 0:602d9d743817 99 {
LBeen 0:602d9d743817 100 motor2direct = 0;
LBeen 0:602d9d743817 101 pc.printf("motordirect=0\n\r"); //De motor draait in negatieve richting, met de klok mee
LBeen 0:602d9d743817 102 }
LBeen 0:602d9d743817 103 if (fabs(MV)>1)
LBeen 0:602d9d743817 104 {
LBeen 0:602d9d743817 105 motor2pwm = 1;
LBeen 0:602d9d743817 106 pc.printf("motorpwm = 1\n\r"); //De snelheid waarmee de motor draait is maximaal, dus 1
LBeen 0:602d9d743817 107 }
LBeen 0:602d9d743817 108 else
LBeen 0:602d9d743817 109 {
LBeen 0:602d9d743817 110 motor2pwm = fabs(MV);
LBeen 0:602d9d743817 111 pc.printf("motorpwm = %f\n\n\r",fabs(MV)); //De snelheid waarmee de motor draait is de absolute waarde van de motorvalue
LBeen 0:602d9d743817 112 }
LBeen 0:602d9d743817 113 }
LBeen 0:602d9d743817 114
LBeen 0:602d9d743817 115 void MeasureAndControl()
LBeen 0:602d9d743817 116 {
LBeen 0:602d9d743817 117 float MV = GetMotorValue();
LBeen 0:602d9d743817 118 switch(i)
LBeen 0:602d9d743817 119 {
LBeen 0:602d9d743817 120 case 0:
LBeen 0:602d9d743817 121 pc.printf("Motor 1\n\r");
LBeen 0:602d9d743817 122 SetMotor1(MV);
LBeen 0:602d9d743817 123 SetMotor2(0);
LBeen 0:602d9d743817 124 //SetMotor3(0);
LBeen 0:602d9d743817 125 break;
LBeen 0:602d9d743817 126 case 1:
LBeen 0:602d9d743817 127 pc.printf("Motor 2\n\r");
LBeen 0:602d9d743817 128 SetMotor1(0);
LBeen 0:602d9d743817 129 SetMotor2(MV);
LBeen 0:602d9d743817 130 //SetMotor3(0);
LBeen 0:602d9d743817 131 break;
LBeen 0:602d9d743817 132 case (2):
LBeen 0:602d9d743817 133 pc.printf("Motor 3\n\r");
LBeen 0:602d9d743817 134 SetMotor1(0);
LBeen 0:602d9d743817 135 SetMotor2(0);
LBeen 0:602d9d743817 136 //SetMotor3(MV);
LBeen 0:602d9d743817 137 break;
LBeen 0:602d9d743817 138 }
LBeen 0:602d9d743817 139 }
LBeen 0:602d9d743817 140
LBeen 0:602d9d743817 141 void count ()
LBeen 0:602d9d743817 142 {
LBeen 0:602d9d743817 143 indrukken ++;
LBeen 0:602d9d743817 144 pc.printf("Het knopje is %i x ingedrukt\n\r",indrukken);
LBeen 0:602d9d743817 145 i = indrukken%3;
LBeen 0:602d9d743817 146 }
LBeen 0:602d9d743817 147
LBeen 0:602d9d743817 148 int main()
LBeen 0:602d9d743817 149 {
LBeen 0:602d9d743817 150 //motorpwm.period(1.0/1000.0);
LBeen 0:602d9d743817 151 pc.baud(115200);
LBeen 0:602d9d743817 152 pc.printf("START\n\r");
LBeen 0:602d9d743817 153 Ticker motordraaien;
LBeen 0:602d9d743817 154 motordraaien.attach(MeasureAndControl,2);
LBeen 0:602d9d743817 155 Spier3.fall(count);
LBeen 0:602d9d743817 156 while(true){}
LBeen 0:602d9d743817 157 }
LBeen 0:602d9d743817 158