Rauno U / Mbed 2 deprecated Miisu

Six crescent shaped legs

Dependencies:   mbed

main.cpp@29:f905e66e1a6f, 2016-05-17 (annotated)

Committer:
sim642
Date:
Tue May 17 16:49:13 2016 +0000
Revision:
29:f905e66e1a6f
Parent:
28:fd21faad6dd8
Child:
30:476ab400d765
Encoder testing code

Who changed what in which revision?

UserRevisionLine numberNew contents of line
phairero 0:0b7259fdb68a 1 #include "mbed.h"
sim642 3:2235787e78c4 2 #include "EncoderMotor.hpp"
sim642 19:f21eb090a830 3 #include "SyncGroup.hpp"
phairero 0:0b7259fdb68a 4
phairero 0:0b7259fdb68a 5 InterruptIn bt(USER_BUTTON);
phairero 26:c865244ca3cf 6 Serial pc(SERIAL_TX, SERIAL_RX);
phairero 26:c865244ca3cf 7 //Serial pc(USBTX, USBRX);
sim642 2:cf0147952fb9 8
sim642 23:d844cc906b66 9 //PIDData speedPIDData = {0.3f, 2.0f, 0.02f};
sim642 23:d844cc906b66 10 //PIDData turnPIDData = {5.0f, 0.1f, 0.04f};
sim642 23:d844cc906b66 11 PIDData speedPIDData = {0.5f, 0.0f, 0.0f};
phairero 26:c865244ca3cf 12 PIDData turnPIDData = {30.0f, 0.01f, 1.0f};
sim642 19:f21eb090a830 13 SyncGroup sync;
sim642 27:24a9ac72fe92 14
sim642 27:24a9ac72fe92 15 /*
sim642 27:24a9ac72fe92 16 PWM timer channel
sim642 27:24a9ac72fe92 17 M1 1 2N
sim642 27:24a9ac72fe92 18 M2 4 2
sim642 27:24a9ac72fe92 19 M3 2 1
sim642 27:24a9ac72fe92 20 M4 4 4
sim642 27:24a9ac72fe92 21 M5 1 3N
sim642 27:24a9ac72fe92 22 M6 2 2
sim642 27:24a9ac72fe92 23 */
phairero 26:c865244ca3cf 24
phairero 26:c865244ca3cf 25 // 1
phairero 26:c865244ca3cf 26 MotorData m1Data = {PB_0, PC_0, PC_3}; //PWM, Dir1, Dir2
phairero 26:c865244ca3cf 27 EncoderData enc1Data = {PC_1, PA_4, 102.083 * 64}; //EncA, encB // https://www.pololu.com/product/2826
phairero 26:c865244ca3cf 28 EncoderMotor m1(m1Data, enc1Data, speedPIDData, turnPIDData, NULL);
phairero 26:c865244ca3cf 29
phairero 26:c865244ca3cf 30 // 2
phairero 26:c865244ca3cf 31 MotorData m2Data = {PB_7, PC_14, PC_13}; //PB7 = fault
phairero 26:c865244ca3cf 32 EncoderData enc2Data = {PC_15, PH_0, 102.083 * 64};
phairero 26:c865244ca3cf 33 EncoderMotor m2(m2Data, enc2Data, speedPIDData, turnPIDData, NULL);
phairero 26:c865244ca3cf 34
phairero 26:c865244ca3cf 35 // 3
phairero 26:c865244ca3cf 36 MotorData m3Data = {PA_15, PC_11, PC_10};
phairero 26:c865244ca3cf 37 EncoderData enc3Data = {PC_12, PA_13, 102.083 * 64};
phairero 26:c865244ca3cf 38 EncoderMotor m3(m3Data, enc3Data, speedPIDData, turnPIDData, NULL);
sim642 19:f21eb090a830 39
phairero 26:c865244ca3cf 40 // 4
phairero 26:c865244ca3cf 41 MotorData m4Data = {PB_8, PC_6, PC_9};
phairero 26:c865244ca3cf 42 EncoderData enc4Data = {PC_5, PA_12, 102.083 * 64};
phairero 26:c865244ca3cf 43 EncoderMotor m4(m4Data, enc4Data, speedPIDData, turnPIDData, NULL);
sim642 13:dc5f5f19e4e8 44
phairero 26:c865244ca3cf 45 // 5
phairero 26:c865244ca3cf 46 MotorData m5Data = {PB_15, PB_1, PB_2};
phairero 26:c865244ca3cf 47 EncoderData enc5Data = {PB_14, PB_13, 102.083 * 64};
phairero 26:c865244ca3cf 48 EncoderMotor m5(m5Data, enc5Data, speedPIDData, turnPIDData, NULL);
phairero 26:c865244ca3cf 49
phairero 26:c865244ca3cf 50 // 6
phairero 26:c865244ca3cf 51 //MotorData m6Data = {PB_3, PA_10, PA_2}; //PA_2 = TX; PA_3 (m6-fault) = RX
phairero 26:c865244ca3cf 52 //EncoderData enc6Data = {PB_5, PB_4, 102.083 * 64};
phairero 26:c865244ca3cf 53 //EncoderMotor m6(m6Data, enc6Data, speedPIDData, turnPIDData, NULL);
phairero 26:c865244ca3cf 54
sim642 28:fd21faad6dd8 55 const int MOTORS = 5;
sim642 28:fd21faad6dd8 56 EncoderMotor* ms[MOTORS] = {&m1, &m2, &m3, &m4, &m5};//,m6};
sim642 28:fd21faad6dd8 57 volatile int active = 0;
phairero 0:0b7259fdb68a 58
sim642 27:24a9ac72fe92 59 Ticker ticker;
sim642 27:24a9ac72fe92 60
sim642 2:cf0147952fb9 61 void rise()
sim642 2:cf0147952fb9 62 {
sim642 24:fb1827be6f7e 63 //pc.printf("rise\n");
sim642 28:fd21faad6dd8 64 //m1.drive(0);
sim642 2:cf0147952fb9 65 }
phairero 0:0b7259fdb68a 66
sim642 2:cf0147952fb9 67 void fall()
sim642 2:cf0147952fb9 68 {
sim642 24:fb1827be6f7e 69 //pc.printf("fall\n");
sim642 28:fd21faad6dd8 70 //m1.drive(0.25);
sim642 2:cf0147952fb9 71 }
phairero 1:8b0322a353f4 72
sim642 27:24a9ac72fe92 73 void tick()
sim642 27:24a9ac72fe92 74 {
sim642 28:fd21faad6dd8 75 for (int i = 0; i < MOTORS; i++)
sim642 28:fd21faad6dd8 76 ms[i]->tick();
sim642 27:24a9ac72fe92 77 }
sim642 27:24a9ac72fe92 78
sim642 27:24a9ac72fe92 79 const float tickTime = 1.f / 60;
sim642 27:24a9ac72fe92 80
sim642 2:cf0147952fb9 81 int main()
sim642 3:2235787e78c4 82 {
phairero 26:c865244ca3cf 83 printf("MAIN\n");
sim642 3:2235787e78c4 84 bt.rise(&rise);
sim642 3:2235787e78c4 85 bt.fall(&fall);
sim642 27:24a9ac72fe92 86
sim642 28:fd21faad6dd8 87 //ms[active]->drive(0.25);
sim642 28:fd21faad6dd8 88
sim642 27:24a9ac72fe92 89 ticker.attach(&tick, tickTime);
sim642 5:7f800f61cb13 90
sim642 25:a8bb69e99d6b 91 float rot, speed;
sim642 25:a8bb69e99d6b 92
sim642 2:cf0147952fb9 93 while(1)
sim642 2:cf0147952fb9 94 {
sim642 29:f905e66e1a6f 95 /*int oldactive = active;
sim642 28:fd21faad6dd8 96 scanf("%d", &active);
sim642 28:fd21faad6dd8 97 active--;
sim642 28:fd21faad6dd8 98 ms[oldactive]->drive(0);
sim642 29:f905e66e1a6f 99 ms[active]->drive(0.25);*/
sim642 29:f905e66e1a6f 100
sim642 29:f905e66e1a6f 101 for (int i = 0; i < MOTORS; i++)
sim642 29:f905e66e1a6f 102 pc.printf("%ld ", ms[i]->encoder.getCount());
sim642 29:f905e66e1a6f 103 pc.printf("\n");
sim642 29:f905e66e1a6f 104
sim642 28:fd21faad6dd8 105 //pc.printf("%d", active);
sim642 22:bfc79c6ea2fd 106 //scanf("%f", &turn);
sim642 23:d844cc906b66 107 //m.rotate(turn, 0.2);
sim642 28:fd21faad6dd8 108 //scanf("%f %f", &rot, &speed);
sim642 28:fd21faad6dd8 109 //m1.rotate(rot, speed);
sim642 23:d844cc906b66 110 //m.drive(speed);
sim642 23:d844cc906b66 111 //printf("%f %f\n", s.getTurnSpeed(), m.getSetSpeed());
sim642 23:d844cc906b66 112 //printf("%f %f\n", m.s, m.getSetSpeed());
sim642 28:fd21faad6dd8 113 //printf("%ld %f %f\n", m1.getEncoder().getCount(), m1.getEncoder().getTurn(), m1.getSetTurn());
sim642 23:d844cc906b66 114 //printf("%f %f\n", m.getEncoder().getTurn(), m.getSetTurn());
sim642 28:fd21faad6dd8 115 wait(1.f / 10);
phairero 0:0b7259fdb68a 116 }
phairero 26:c865244ca3cf 117 }