Rauno U
/
Miisu
Six crescent shaped legs
main.cpp
- Committer:
- sim642
- Date:
- 2016-06-02
- Revision:
- 35:bce9ac485178
- Parent:
- 34:30391b6c26fc
- Child:
- 36:906323851366
File content as of revision 35:bce9ac485178:
#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, PC_14, PA_6}; //PB7 = fault dir2 oli enne PC13 EncoderData enc2Data = {PC_15, PH_0, 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 int active = 0; DigitalIn ss[MOTORS] = {s1, s2, s3, s4, s5, s6}; Ticker ticker; void rise() { //pc.printf("rise\n"); //m1.drive(0); } 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); float volatile rot, speed; speed = 0.0; while(1) {/* int oldactive = active; pc.scanf("%d %f", &active, &speed); //active--; if (active != oldactive){ ms[oldactive]->drive(0); } ms[active]->drive(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"); */ //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()); wait(1.f / 10); } }