File content as of revision 36:906323851366:

#include "mbed.h"
#include "EncoderMotor.hpp"
#include "SyncGroup.hpp"

InterruptIn bt(USER_BUTTON);
Serial pc(PA_0, PA_1); //RF
//Serial pc(SERIAL_TX, SERIAL_RX);
//Serial pc(USBTX, USBRX);

//PIDData speedPIDData = {0.3f, 2.0f, 0.02f};
//PIDData turnPIDData = {5.0f, 0.1f, 0.04f};
PIDData speedPIDData = {0.5f, 0.0f, 0.0f};
PIDData turnPIDData = {30.0f, 0.01f, 1.0f};
SyncGroup sync;

/*
PWM timer channel
M1 1 2N
M2 4 2
M3 2 1
M4 4 4
M5 1 3N
M6 2 2
*/
    
// 1
MotorData m1Data = {PB_0, PC_0, PA_4}; //PWM, Dir1, Dir2
EncoderData enc1Data = {PC_1, PC_3, 102.083 * 64}; //EncA, encB  // https://www.pololu.com/product/2826
EncoderMotor m1(m1Data, enc1Data, speedPIDData, turnPIDData, NULL);
DigitalIn s1(PA_8);
// 2
MotorData m2Data = {PB_7, PB_9, PA_6};  //PB7 = fault dir2 oli enne PC13
EncoderData enc2Data = {PC_15, PC_14, 102.083 * 64};
EncoderMotor m2(m2Data, enc2Data, speedPIDData, turnPIDData, NULL);
DigitalIn s2(PH_1);
// 3
MotorData m3Data = {PA_15, PC_12, PC_10}; 
EncoderData enc3Data = {PC_11, PA_9, 102.083 * 64}; //B oli varem PA_13
EncoderMotor m3(m3Data, enc3Data, speedPIDData, turnPIDData, NULL);
DigitalIn s3(PA_14);
// 4
MotorData m4Data = {PB_8, PC_6, PC_9}; 
EncoderData enc4Data = {PC_5, PA_12, 102.083 * 64};
EncoderMotor m4(m4Data, enc4Data, speedPIDData, turnPIDData, NULL);
DigitalIn s4(PA_11);
// 5
MotorData m5Data = {PB_15, PB_1, PB_2}; 
EncoderData enc5Data = {PC_7, PB_6, 102.083 * 64}; //B oli varem PB_13, A oli varem PB_14
EncoderMotor m5(m5Data, enc5Data, speedPIDData, turnPIDData, NULL);
DigitalIn s5(PC_4);
// 6
MotorData m6Data = {PB_3, PB_5, PA_7};  //PA_2 = TX; PA_3 (m6-fault) = RX DIR2 oli enne PA2
EncoderData enc6Data = {PA_10, PB_4, 102.083 * 64};
EncoderMotor m6(m6Data, enc6Data, speedPIDData, turnPIDData, NULL); 
DigitalIn s6(PB_10);

const int MOTORS = 6;
EncoderMotor* ms[MOTORS] = {&m1, &m2, &m3, &m4, &m5, &m6};
volatile float mod = 0.25;
DigitalIn ss[MOTORS] = {s1, s2, s3, s4, s5, s6};

Ticker ticker;

void rise()
{
    //pc.printf("rise\n");
    //m1.drive(0);
    //mod = mod*(-1);
}

void fall()
{
    //pc.printf("fall\n");
    //m1.drive(0.25);
}

void tick()
{
    for (int i = 0; i < MOTORS; i++)
        ms[i]->tick();
}

const float tickTime = 1.f / 60;

int main()
{   
    pc.printf("MAIN\n");
    bt.rise(&rise);
    bt.fall(&fall);
    
    //ms[active]->drive(0.25);
    
    ticker.attach(&tick, tickTime);
    
    //unsigned char volatile rfget;
    
    float volatile speed;
    
    float volatile sum;
    
    
    while(1)
    {
      
        speed = 0.925f;
        //int oldactive = active;
        //pc.scanf("%f", &speed);
        
        if (speed != 0){
            speed = (speed*0.3f); //+ ((speed < 0) ? -1 : 1) * mod;
        
            ms[0]->rotate(-0.75f,speed*3);
            ms[1]->rotate(-0.25f,speed);
            ms[2]->rotate(0.75f,speed*3);
            ms[3]->rotate(0.25f,speed);
            ms[4]->rotate(0.75f,speed*3);
            ms[5]->rotate(-0.25f,speed);
            tick();
            do {
                sum = 0;
                for (int i = 0; i < MOTORS; i++){
                    pc.printf("%d,%f\n",i,ms[i]->errorTurn);
                    sum+=abs(ms[i]->errorTurn);
                    }
                pc.printf("1)%f\n",sum);
            } while( sum > 0.05f );
            ms[0]->rotate(-0.25f,speed);
            ms[1]->rotate(-0.75f,speed*3);
            ms[2]->rotate(0.25f,speed);
            ms[3]->rotate(0.75f,speed*3);
            ms[4]->rotate(0.25f,speed);
            ms[5]->rotate(-0.75f,speed*3);
            tick();
            do {
                sum = 0;
                for (int i = 0; i < MOTORS; i++){
                    sum+=abs(ms[i]->errorTurn);
                    }
                //pc.printf("2)%f\n",sum);
            } while( sum > 0.05f );
            wait(0.1f);
        }
        else {
            ms[0]->drive(0.0);
            ms[1]->drive(0.0);
            ms[2]->drive(0.0);
            ms[3]->drive(0.0);
            ms[4]->drive(0.0);
            ms[5]->drive(0.0);
        }
        
        //pc.printf("%f", speed);
        //info enkoodritelt
        /*
        for (int i = 0; i < MOTORS; i++)
            pc.printf("%ld ", ms[i]->encoder.getCount());
        pc.printf("\n");
        */
        /*
        //info IRidelt
        for (int i = 0; i < MOTORS; i++)
            pc.printf("%d ", ss[i].read());
        pc.printf("\n");
        wait(1.0f);
        */
        //pc.printf("%d", active);
        //pc.scanf("%f", &turn);
        //m.rotate(turn, 0.2);
        //pc.scanf("%f %f", &rot, &speed);
        //m1.rotate(rot, speed);
        //m.drive(speed);
        //pc.printf("%f %f\n", s.getTurnSpeed(), m.getSetSpeed());
        //pc.printf("%f %f\n", m.s, m.getSetSpeed());
        //pc.printf("%ld %f %f\n", m1.getEncoder().getCount(), m1.getEncoder().getTurn(), m1.getSetTurn());
        //pc.printf("%f %f\n", m.getEncoder().getTurn(), m.getSetTurn());
        
    }
}