NUCLEOのキットを使ったルーレット
main.cpp@0:b8098a4ce012, 2016-03-22 (annotated)
- Committer:
- motomiya
- Date:
- Tue Mar 22 22:53:00 2016 +0000
- Revision:
- 0:b8098a4ce012
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Who changed what in which revision?
User | Revision | Line number | New contents of line |
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motomiya | 0:b8098a4ce012 | 1 | /************************************************* |
motomiya | 0:b8098a4ce012 | 2 | "Nucleo_motor_control2" |
motomiya | 0:b8098a4ce012 | 3 | Nucleo Pack |
motomiya | 0:b8098a4ce012 | 4 | マイコンボード NUCLEO-F302R8 |
motomiya | 0:b8098a4ce012 | 5 | 拡張ボード X-NUCLEO-IHM07M1 |
motomiya | 0:b8098a4ce012 | 6 | モーター BR2804-1700KV-1 |
motomiya | 0:b8098a4ce012 | 7 | を使ったモーター制御の実験 |
motomiya | 0:b8098a4ce012 | 8 | |
motomiya | 0:b8098a4ce012 | 9 | アナログPWM版 ルーレット仕様 |
motomiya | 0:b8098a4ce012 | 10 | Copyright(C) 2016 Columbus-seiki |
motomiya | 0:b8098a4ce012 | 11 | |
motomiya | 0:b8098a4ce012 | 12 | 2016-02-22 Rev0 |
motomiya | 0:b8098a4ce012 | 13 | |
motomiya | 0:b8098a4ce012 | 14 | **************************************************/ |
motomiya | 0:b8098a4ce012 | 15 | #include "mbed.h" |
motomiya | 0:b8098a4ce012 | 16 | #include "main.h" |
motomiya | 0:b8098a4ce012 | 17 | |
motomiya | 0:b8098a4ce012 | 18 | #define POLE_PAIR 7//モーターの磁極対数 |
motomiya | 0:b8098a4ce012 | 19 | #define PERIOD_TIMER 0.005 //タイマー周期(S) |
motomiya | 0:b8098a4ce012 | 20 | #define SINTBL_LENGTH 512 //sinTbl[]要素数 |
motomiya | 0:b8098a4ce012 | 21 | #define PERIOD_PWM 0.0002 //PWM周期(S) これ以下では ヒゲ がでる |
motomiya | 0:b8098a4ce012 | 22 | #define HALF_PWM (PERIOD_PWM / 2) //PWM周期の真ん中 PERIOD_PWM÷2 |
motomiya | 0:b8098a4ce012 | 23 | #define DEG360 1024 //360°相当 |
motomiya | 0:b8098a4ce012 | 24 | #define DEG120 341 //120° |
motomiya | 0:b8098a4ce012 | 25 | #define DEG240 682 //240° |
motomiya | 0:b8098a4ce012 | 26 | |
motomiya | 0:b8098a4ce012 | 27 | |
motomiya | 0:b8098a4ce012 | 28 | //入出力ピンを定義 |
motomiya | 0:b8098a4ce012 | 29 | DigitalIn mybutton(USER_BUTTON); |
motomiya | 0:b8098a4ce012 | 30 | Serial pc(PA_2, PA_3); //USB/COM パソコンの仮想シリアルポートへ。ここでは使いません |
motomiya | 0:b8098a4ce012 | 31 | DigitalOut ld2(PB_13); //LD2 グリーンLED |
motomiya | 0:b8098a4ce012 | 32 | DigitalOut d11(PB_2); //D11 パワボード赤LED |
motomiya | 0:b8098a4ce012 | 33 | |
motomiya | 0:b8098a4ce012 | 34 | //pwm出力の定義 |
motomiya | 0:b8098a4ce012 | 35 | PwmOut pwmU(PA_8), pwmV(PA_9), pwmW(PA_10);//それぞれUH_PWM, VH_PWM, WH_PWM |
motomiya | 0:b8098a4ce012 | 36 | |
motomiya | 0:b8098a4ce012 | 37 | //IOの定義 |
motomiya | 0:b8098a4ce012 | 38 | DigitalOut enableU(PC_10), enableV(PC_11), enableW(PC_12);//それぞれEnable_CH1-L6230, _CH2-, _CH3- |
motomiya | 0:b8098a4ce012 | 39 | |
motomiya | 0:b8098a4ce012 | 40 | //アナログ入力の定義 |
motomiya | 0:b8098a4ce012 | 41 | AnalogIn ain(PB_1);//R42 POTENTIOPOTENTIOMETER |
motomiya | 0:b8098a4ce012 | 42 | AnalogIn ainThrm(PC_2);// Temperature feedback |
motomiya | 0:b8098a4ce012 | 43 | |
motomiya | 0:b8098a4ce012 | 44 | //タイマーの定義 |
motomiya | 0:b8098a4ce012 | 45 | Ticker myTimer;//繰返しタイマー |
motomiya | 0:b8098a4ce012 | 46 | |
motomiya | 0:b8098a4ce012 | 47 | //変数 |
motomiya | 0:b8098a4ce012 | 48 | int preMybutton; //記憶 |
motomiya | 0:b8098a4ce012 | 49 | int enablePWM=0;//PWM開始と停止フラグ |
motomiya | 0:b8098a4ce012 | 50 | //int scope[100];//モニター用バッファ |
motomiya | 0:b8098a4ce012 | 51 | int count, loopCount=0; //カウンター |
motomiya | 0:b8098a4ce012 | 52 | double outDuty=0 ,outU, outV, outW; //PWM出力デューティー |
motomiya | 0:b8098a4ce012 | 53 | float theta, omega; //角度と角速度 |
motomiya | 0:b8098a4ce012 | 54 | int timePerRound=60; //1回転時間(S) |
motomiya | 0:b8098a4ce012 | 55 | |
motomiya | 0:b8098a4ce012 | 56 | int sumThrm; //積算値 |
motomiya | 0:b8098a4ce012 | 57 | bool runRoulette=false; |
motomiya | 0:b8098a4ce012 | 58 | int thetaMech=0; //機械(物理的な)モータ角度 |
motomiya | 0:b8098a4ce012 | 59 | |
motomiya | 0:b8098a4ce012 | 60 | /********************************** |
motomiya | 0:b8098a4ce012 | 61 | sin関数 |
motomiya | 0:b8098a4ce012 | 62 | 引数:最大1024=360° |
motomiya | 0:b8098a4ce012 | 63 | 出力:最大512=1.0 |
motomiya | 0:b8098a4ce012 | 64 | ***********************************/ |
motomiya | 0:b8098a4ce012 | 65 | int mySin(int angleNum) |
motomiya | 0:b8098a4ce012 | 66 | { |
motomiya | 0:b8098a4ce012 | 67 | |
motomiya | 0:b8098a4ce012 | 68 | angleNum &= 0x3ff; //0x3ff=1023 でマスク |
motomiya | 0:b8098a4ce012 | 69 | if(angleNum >= 512) //180~360° |
motomiya | 0:b8098a4ce012 | 70 | return -sinTbl[angleNum - 512]; |
motomiya | 0:b8098a4ce012 | 71 | else //0~180° |
motomiya | 0:b8098a4ce012 | 72 | return sinTbl[angleNum]; |
motomiya | 0:b8098a4ce012 | 73 | } |
motomiya | 0:b8098a4ce012 | 74 | |
motomiya | 0:b8098a4ce012 | 75 | |
motomiya | 0:b8098a4ce012 | 76 | /********************************** |
motomiya | 0:b8098a4ce012 | 77 | タイマー割込み関数 5mS |
motomiya | 0:b8098a4ce012 | 78 | ***********************************/ |
motomiya | 0:b8098a4ce012 | 79 | void myTimerCallBack() //全相をONにする |
motomiya | 0:b8098a4ce012 | 80 | { |
motomiya | 0:b8098a4ce012 | 81 | outDuty = 0.2; //最大1.0 出力電圧を調整します |
motomiya | 0:b8098a4ce012 | 82 | |
motomiya | 0:b8098a4ce012 | 83 | theta += omega; //増加分 |
motomiya | 0:b8098a4ce012 | 84 | if(theta >= 1024) //360°オーバーフローを防止 |
motomiya | 0:b8098a4ce012 | 85 | theta -= 1024; |
motomiya | 0:b8098a4ce012 | 86 | else if(theta <= -1024) |
motomiya | 0:b8098a4ce012 | 87 | theta += 1024; |
motomiya | 0:b8098a4ce012 | 88 | |
motomiya | 0:b8098a4ce012 | 89 | pwmU.pulsewidth(HALF_PWM + outDuty * mySin((int)theta & 0x3ff) / 512.0 * HALF_PWM); |
motomiya | 0:b8098a4ce012 | 90 | pwmV.pulsewidth(HALF_PWM + outDuty * mySin(((int)theta - DEG120) & 0x3ff) / 512.0 * HALF_PWM); |
motomiya | 0:b8098a4ce012 | 91 | pwmW.pulsewidth(HALF_PWM + outDuty * mySin(((int)theta - DEG240) & 0x3ff) / 512.0 * HALF_PWM); |
motomiya | 0:b8098a4ce012 | 92 | |
motomiya | 0:b8098a4ce012 | 93 | thetaMech += omega; //増加分 |
motomiya | 0:b8098a4ce012 | 94 | |
motomiya | 0:b8098a4ce012 | 95 | //サイクルカウンター処理(同期) |
motomiya | 0:b8098a4ce012 | 96 | count++; |
motomiya | 0:b8098a4ce012 | 97 | if( count == 100) { |
motomiya | 0:b8098a4ce012 | 98 | count = 0; |
motomiya | 0:b8098a4ce012 | 99 | loopCount = 1; //loopの同期用 5mS X 100 = 0.5S |
motomiya | 0:b8098a4ce012 | 100 | } |
motomiya | 0:b8098a4ce012 | 101 | |
motomiya | 0:b8098a4ce012 | 102 | } |
motomiya | 0:b8098a4ce012 | 103 | /*********************************** |
motomiya | 0:b8098a4ce012 | 104 | |
motomiya | 0:b8098a4ce012 | 105 | ************************************/ |
motomiya | 0:b8098a4ce012 | 106 | int main() |
motomiya | 0:b8098a4ce012 | 107 | { |
motomiya | 0:b8098a4ce012 | 108 | |
motomiya | 0:b8098a4ce012 | 109 | //pwmデューティー 初期値 |
motomiya | 0:b8098a4ce012 | 110 | outU = 0; |
motomiya | 0:b8098a4ce012 | 111 | outV = 0; |
motomiya | 0:b8098a4ce012 | 112 | outW = 0; |
motomiya | 0:b8098a4ce012 | 113 | |
motomiya | 0:b8098a4ce012 | 114 | //PWM設定 |
motomiya | 0:b8098a4ce012 | 115 | enableU = 0;//PWM出力OFF. L6230PのENable端子です |
motomiya | 0:b8098a4ce012 | 116 | enableV = 0; |
motomiya | 0:b8098a4ce012 | 117 | enableW = 0; |
motomiya | 0:b8098a4ce012 | 118 | |
motomiya | 0:b8098a4ce012 | 119 | pwmU.period(PERIOD_PWM);//0.2mS 5KHz |
motomiya | 0:b8098a4ce012 | 120 | pwmV.period(PERIOD_PWM); |
motomiya | 0:b8098a4ce012 | 121 | pwmW.period(PERIOD_PWM); |
motomiya | 0:b8098a4ce012 | 122 | |
motomiya | 0:b8098a4ce012 | 123 | //タイマー設定 |
motomiya | 0:b8098a4ce012 | 124 | myTimer.attach(&myTimerCallBack, PERIOD_TIMER);//5mS毎にmyTimerCallBack()がコールされます |
motomiya | 0:b8098a4ce012 | 125 | |
motomiya | 0:b8098a4ce012 | 126 | |
motomiya | 0:b8098a4ce012 | 127 | while(1) { |
motomiya | 0:b8098a4ce012 | 128 | //------ およそ一定周期の処理 ------- |
motomiya | 0:b8098a4ce012 | 129 | if(loopCount != 0) {//5x100=0.5S |
motomiya | 0:b8098a4ce012 | 130 | loopCount = 0; |
motomiya | 0:b8098a4ce012 | 131 | |
motomiya | 0:b8098a4ce012 | 132 | ld2 = !ld2; //点滅 |
motomiya | 0:b8098a4ce012 | 133 | d11 = !d11; //パワボード |
motomiya | 0:b8098a4ce012 | 134 | |
motomiya | 0:b8098a4ce012 | 135 | //ルーレット目標位置の作成用データ |
motomiya | 0:b8098a4ce012 | 136 | sumThrm += (float)ainThrm * 1000000; //積算 |
motomiya | 0:b8098a4ce012 | 137 | |
motomiya | 0:b8098a4ce012 | 138 | //pc.printf("%f", ((float)(sumThrm & 0x1f) / 32.0 + 10) * 1024 * POLE_PAIR); |
motomiya | 0:b8098a4ce012 | 139 | } |
motomiya | 0:b8098a4ce012 | 140 | |
motomiya | 0:b8098a4ce012 | 141 | //-------- 時間に関係しない処理 -------- |
motomiya | 0:b8098a4ce012 | 142 | //PWM開始と停止 |
motomiya | 0:b8098a4ce012 | 143 | if((int)mybutton != preMybutton) {//ボタンが押された。チャタリングを考慮していません |
motomiya | 0:b8098a4ce012 | 144 | preMybutton = (int)mybutton;//次に押されたときのために記憶 |
motomiya | 0:b8098a4ce012 | 145 | |
motomiya | 0:b8098a4ce012 | 146 | if(mybutton == 0) {//押されたときだけ。 |
motomiya | 0:b8098a4ce012 | 147 | runRoulette = true; //enablePWM = ~enablePWM;//オルタネート |
motomiya | 0:b8098a4ce012 | 148 | thetaMech = 0;//機械角リセット |
motomiya | 0:b8098a4ce012 | 149 | //PWM開始 |
motomiya | 0:b8098a4ce012 | 150 | enableU = 1;//PWM出力ON. L6230PのENable端子です |
motomiya | 0:b8098a4ce012 | 151 | enableV = 1; |
motomiya | 0:b8098a4ce012 | 152 | enableW = 1; |
motomiya | 0:b8098a4ce012 | 153 | } |
motomiya | 0:b8098a4ce012 | 154 | } |
motomiya | 0:b8098a4ce012 | 155 | |
motomiya | 0:b8098a4ce012 | 156 | //ルーレット停止位置 |
motomiya | 0:b8098a4ce012 | 157 | if( thetaMech > ((float)(sumThrm & 0x1f) / 32.0F + 5) * 1024 * POLE_PAIR)// |
motomiya | 0:b8098a4ce012 | 158 | runRoulette = false; |
motomiya | 0:b8098a4ce012 | 159 | //thetaMechが1024*POLE_PAIRで一回転. 5回転を追加. sumThrmの0~31を抽出 |
motomiya | 0:b8098a4ce012 | 160 | |
motomiya | 0:b8098a4ce012 | 161 | |
motomiya | 0:b8098a4ce012 | 162 | //角速度に変換 ルーレットのスタートと停止 |
motomiya | 0:b8098a4ce012 | 163 | if(runRoulette) { //回転 |
motomiya | 0:b8098a4ce012 | 164 | timePerRound = 2;//速度指定(S/r) |
motomiya | 0:b8098a4ce012 | 165 | omega = PERIOD_TIMER * DEG360 * POLE_PAIR / timePerRound; |
motomiya | 0:b8098a4ce012 | 166 | } else //停止 |
motomiya | 0:b8098a4ce012 | 167 | omega = 0; |
motomiya | 0:b8098a4ce012 | 168 | |
motomiya | 0:b8098a4ce012 | 169 | }//END while(1) |
motomiya | 0:b8098a4ce012 | 170 | |
motomiya | 0:b8098a4ce012 | 171 | |
motomiya | 0:b8098a4ce012 | 172 | } |
motomiya | 0:b8098a4ce012 | 173 |