Peter Bartels / Mbed 2 deprecated Motor_component_testing_1

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Dependencies:   Encoder HIDScope mbed

Fork of Motor_component_testing by Bart Arendshorst

main.cpp@3:c6b8499a9021, 2014-10-27 (annotated)

Committer:
phgbartels
Date:
Mon Oct 27 12:13:24 2014 +0000
Revision:
3:c6b8499a9021
Parent:
2:b7d757570748
Child:
4:71ada7709c46
Opschonen script + omschrijven tot 2 motoren

Who changed what in which revision?

UserRevisionLine numberNew contents of line
phgbartels 0:2240263f7068 1 #include "mbed.h"
phgbartels 0:2240263f7068 2 #include "encoder.h"
phgbartels 3:c6b8499a9021 3 #include "HIDScope.h"
phgbartels 0:2240263f7068 4 #include "PwmOut.h"
phgbartels 3:c6b8499a9021 5 /*definieren pinnen Motor 1*/
phgbartels 0:2240263f7068 6 #define M1_PWM PTA5
phgbartels 0:2240263f7068 7 #define M1_DIR PTA4
phgbartels 3:c6b8499a9021 8 #define M2_PWM PTC8
phgbartels 3:c6b8499a9021 9 #define M2_DIR PTC9
phgbartels 3:c6b8499a9021 10 /*Definieren minimale waarden PWM per motor*/
phgbartels 3:c6b8499a9021 11 #define PWM1_min_30 0.529 /*met koppelstuk!*/
phgbartels 3:c6b8499a9021 12 #define PWM2_min_50 0.519 /*aanpassen! Klopt nog niet met koppelstuk*/
phgbartels 3:c6b8499a9021 13 /*Definieren om de hoeveel seconden er gegevens naar de HID-scope gestuurd worden.*/
phgbartels 3:c6b8499a9021 14 #define TSAMP 0.005
phgbartels 0:2240263f7068 15
BArendshorst 1:0471de635f87 16 Encoder motor1(PTD3,PTD1);
phgbartels 3:c6b8499a9021 17 Encoder motor2(PTD5, PTD0);
phgbartels 0:2240263f7068 18 PwmOut pwm_motor1(M1_PWM);
phgbartels 3:c6b8499a9021 19 PwmOut pwm_motor2(M2_PWM);
phgbartels 0:2240263f7068 20 DigitalOut motordir1(M1_DIR);
phgbartels 3:c6b8499a9021 21 DigitalOut motordir2(M2_DIR);
phgbartels 0:2240263f7068 22 DigitalOut LED(LED_GREEN);
phgbartels 0:2240263f7068 23
phgbartels 3:c6b8499a9021 24 volatile bool looptimerflag;
phgbartels 3:c6b8499a9021 25 int PWM1_percentage = 1;
phgbartels 3:c6b8499a9021 26 int PWM2_percentage = 1;
phgbartels 3:c6b8499a9021 27 float PWM1 = ((1-PWM1_min_30)/100)*PWM1_percentage + PWM1_min_30;
phgbartels 3:c6b8499a9021 28 float PWM2 = ((1-PWM2_min_50)/100)*PWM2_percentage + PWM1_min_30;
phgbartels 3:c6b8499a9021 29
phgbartels 3:c6b8499a9021 30 HIDScope scope(3);
phgbartels 3:c6b8499a9021 31
phgbartels 3:c6b8499a9021 32 //Ticker tick;
phgbartels 3:c6b8499a9021 33 /*void PWMc()
phgbartels 3:c6b8499a9021 34 {
phgbartels 3:c6b8499a9021 35 PWM = abs(PWM-0.1);
phgbartels 3:c6b8499a9021 36 pwm_motor1.write(PWM);
phgbartels 3:c6b8499a9021 37 scope.set(0, motor1.getPosition());
phgbartels 3:c6b8499a9021 38 scope.set(1, DigitalIn(PTD3));
phgbartels 3:c6b8499a9021 39 scope.set(2, DigitalIn(PTD1));
phgbartels 3:c6b8499a9021 40 scope.send();
phgbartels 3:c6b8499a9021 41 }*/
phgbartels 3:c6b8499a9021 42
phgbartels 3:c6b8499a9021 43 void setlooptimerflag(void) //Ticker maakt een constructie die zoveel keer per seconde een functie uitvoerd, met sampingling freq TSAMP
phgbartels 3:c6b8499a9021 44 {
phgbartels 3:c6b8499a9021 45 looptimerflag = true;
phgbartels 3:c6b8499a9021 46 }
phgbartels 0:2240263f7068 47
phgbartels 0:2240263f7068 48 int main() {
phgbartels 3:c6b8499a9021 49 //tick.attach(&PWMc, 5);
phgbartels 3:c6b8499a9021 50
BArendshorst 1:0471de635f87 51 pwm_motor1.period_us(100);
phgbartels 3:c6b8499a9021 52 pwm_motor2.period_us(100);
phgbartels 3:c6b8499a9021 53 pwm_motor1.write(PWM1);
phgbartels 3:c6b8499a9021 54 pwm_motor2.write(PWM2);
phgbartels 0:2240263f7068 55 LED = 0;
phgbartels 3:c6b8499a9021 56 motordir1 = 0;
phgbartels 3:c6b8499a9021 57 motordir2 = 0;
phgbartels 3:c6b8499a9021 58
phgbartels 3:c6b8499a9021 59 Ticker looptimer; // looptimer = variabele van het type ticker(niet int of float), Daarmee is looptimer een classe. Omdat een classe is heeft het methods oftewel functies, zoals attach. Setlooptimerflag is een functie
phgbartels 3:c6b8499a9021 60 looptimer.attach(setlooptimerflag,TSAMP); // attach betekend het koppelen van een functie aan een classe.
phgbartels 3:c6b8499a9021 61 while(true) {
phgbartels 3:c6b8499a9021 62
phgbartels 0:2240263f7068 63 //wait(3);
BArendshorst 1:0471de635f87 64 //pwm_motor1.write(0.4);
phgbartels 0:2240263f7068 65 LED = 1;
phgbartels 0:2240263f7068 66 //wait(1);
phgbartels 0:2240263f7068 67 //PWM = PWM + 0.05;
phgbartels 0:2240263f7068 68
phgbartels 0:2240263f7068 69 //pwm_motor1.pulsewidth_us(50);
phgbartels 3:c6b8499a9021 70 while(!looptimerflag) //Hierdoor zeg je eigenlijk tegen je systeem; voer dit script uit na elke TSAMP s.
phgbartels 3:c6b8499a9021 71 {
phgbartels 3:c6b8499a9021 72 /*do nothing*/ //Zolang dit waar is, doe je niets.
phgbartels 0:2240263f7068 73 }
phgbartels 3:c6b8499a9021 74 looptimerflag = false; //clear flag
phgbartels 3:c6b8499a9021 75
phgbartels 0:2240263f7068 76 scope.set(0, motor1.getPosition());
phgbartels 3:c6b8499a9021 77 scope.set(1, motor1.getSpeed());
phgbartels 3:c6b8499a9021 78 scope.set(2, motor2.getPosition());
phgbartels 3:c6b8499a9021 79 scope.set(3, motor2.getSpeed());
phgbartels 0:2240263f7068 80 scope.send();
phgbartels 0:2240263f7068 81 }
phgbartels 0:2240263f7068 82 }