Chris Womack / emptyProgram

Empty program for LPC4088

Dependencies:   DMSupport

main.cpp@0:1f5dc83e66d6, 2016-02-17 (annotated)

Committer:
redbird
Date:
Wed Feb 17 16:57:43 2016 +0000
Revision:
0:1f5dc83e66d6
Empty template for LPC4088 Program

Who changed what in which revision?

UserRevisionLine numberNew contents of line
redbird 0:1f5dc83e66d6 1 #include "mbed.h"
redbird 0:1f5dc83e66d6 2
redbird 0:1f5dc83e66d6 3 /*****Globals*****/
redbird 0:1f5dc83e66d6 4
redbird 0:1f5dc83e66d6 5 // Motor Selectors
redbird 0:1f5dc83e66d6 6 #define x 'x'
redbird 0:1f5dc83e66d6 7 #define y 'y'
redbird 0:1f5dc83e66d6 8 #define f 'f'
redbird 0:1f5dc83e66d6 9
redbird 0:1f5dc83e66d6 10 // Direction Selectors
redbird 0:1f5dc83e66d6 11 #define cw 0 // = 0
redbird 0:1f5dc83e66d6 12 #define ccw 1 // = 1
redbird 0:1f5dc83e66d6 13
redbird 0:1f5dc83e66d6 14 // Motor Speed
redbird 0:1f5dc83e66d6 15 #define xMotorPeriod 4 // 25kHz
redbird 0:1f5dc83e66d6 16 #define yMotorPeriod 4 // 25kHz
redbird 0:1f5dc83e66d6 17 #define fMotorPeriod 15
redbird 0:1f5dc83e66d6 18
redbird 0:1f5dc83e66d6 19 #define xFreq 25000
redbird 0:1f5dc83e66d6 20 #define yFreq 25000
redbird 0:1f5dc83e66d6 21
redbird 0:1f5dc83e66d6 22 class Drive{
redbird 0:1f5dc83e66d6 23 public:
redbird 0:1f5dc83e66d6 24 int stepCount, position, distance, dir, period;
redbird 0:1f5dc83e66d6 25 Drive(PinName pulse, PinName direction, int motorPeriod) : _pulse(pulse), _direction(direction) {
redbird 0:1f5dc83e66d6 26 _pulse.write(0.0f);
redbird 0:1f5dc83e66d6 27 _direction = 0;
redbird 0:1f5dc83e66d6 28 distance = 1;
redbird 0:1f5dc83e66d6 29 stepCount = 0;
redbird 0:1f5dc83e66d6 30 period = motorPeriod;
redbird 0:1f5dc83e66d6 31 dir = cw;
redbird 0:1f5dc83e66d6 32 }
redbird 0:1f5dc83e66d6 33 void on(){
redbird 0:1f5dc83e66d6 34 _pulse.period_us(period); // set period
redbird 0:1f5dc83e66d6 35 _pulse.write(0.50f); // 50% duty cycle
redbird 0:1f5dc83e66d6 36 }
redbird 0:1f5dc83e66d6 37 // edit members
redbird 0:1f5dc83e66d6 38 void setDistance(int value){
redbird 0:1f5dc83e66d6 39 distance = value;
redbird 0:1f5dc83e66d6 40 }
redbird 0:1f5dc83e66d6 41 void setDirection(int value){
redbird 0:1f5dc83e66d6 42 dir = value;
redbird 0:1f5dc83e66d6 43 }
redbird 0:1f5dc83e66d6 44 void stepIncr(){
redbird 0:1f5dc83e66d6 45 stepCount++;
redbird 0:1f5dc83e66d6 46 if(stepCount == distance){ // stop motor
redbird 0:1f5dc83e66d6 47 _pulse.write(0.0f);
redbird 0:1f5dc83e66d6 48 stepCount = 0;
redbird 0:1f5dc83e66d6 49 }
redbird 0:1f5dc83e66d6 50 }
redbird 0:1f5dc83e66d6 51 void resetCount(){
redbird 0:1f5dc83e66d6 52 stepCount = 0;
redbird 0:1f5dc83e66d6 53 }
redbird 0:1f5dc83e66d6 54 private:
redbird 0:1f5dc83e66d6 55 PwmOut _pulse;
redbird 0:1f5dc83e66d6 56 DigitalOut _direction;
redbird 0:1f5dc83e66d6 57 };
redbird 0:1f5dc83e66d6 58
redbird 0:1f5dc83e66d6 59 // Motors
redbird 0:1f5dc83e66d6 60 Drive xMotor(p7, p10, xMotorPeriod);
redbird 0:1f5dc83e66d6 61 Drive yMotor(p8, p11, yMotorPeriod);
redbird 0:1f5dc83e66d6 62 Drive fMotor(p9, p12, fMotorPeriod);
redbird 0:1f5dc83e66d6 63
redbird 0:1f5dc83e66d6 64 InterruptIn xStepRead(p1);
redbird 0:1f5dc83e66d6 65 InterruptIn yStepRead(p2);
redbird 0:1f5dc83e66d6 66 InterruptIn fStepRead(p3);
redbird 0:1f5dc83e66d6 67
redbird 0:1f5dc83e66d6 68 // LEDs
redbird 0:1f5dc83e66d6 69 DigitalOut myled1(LED1);
redbird 0:1f5dc83e66d6 70 DigitalOut myled2(LED2);
redbird 0:1f5dc83e66d6 71 DigitalOut myled3(LED3);
redbird 0:1f5dc83e66d6 72 DigitalOut myled4(LED4);
redbird 0:1f5dc83e66d6 73
redbird 0:1f5dc83e66d6 74 /*****Functions*****/
redbird 0:1f5dc83e66d6 75
redbird 0:1f5dc83e66d6 76 // motor drive functions
redbird 0:1f5dc83e66d6 77 void motorDrive(int steps, char motor, int direction){
redbird 0:1f5dc83e66d6 78 // Input int pulse for distance // 1 pulse =
redbird 0:1f5dc83e66d6 79 // Input char motor as the drive motor
redbird 0:1f5dc83e66d6 80 // Return value of 0 means freq input was negative, 1 success
redbird 0:1f5dc83e66d6 81 // No more than one motor can run at a time (PWM limit)
redbird 0:1f5dc83e66d6 82
redbird 0:1f5dc83e66d6 83 /* Example
redbird 0:1f5dc83e66d6 84 int main(){ // Generates a 25 kHz PWM for 15 seconds
redbird 0:1f5dc83e66d6 85 motorPWM(500, 'x');
redbird 0:1f5dc83e66d6 86 wait(15.0);
redbird 0:1f5dc83e66d6 87 motorStop('x');
redbird 0:1f5dc83e66d6 88 }
redbird 0:1f5dc83e66d6 89 */
redbird 0:1f5dc83e66d6 90 switch(motor){
redbird 0:1f5dc83e66d6 91 case 'x': // x track motor
redbird 0:1f5dc83e66d6 92 xMotor.resetCount();
redbird 0:1f5dc83e66d6 93 xMotor.setDistance(steps);
redbird 0:1f5dc83e66d6 94 xMotor.setDirection(direction);
redbird 0:1f5dc83e66d6 95
redbird 0:1f5dc83e66d6 96 xStepRead.rise(&xMotor, &Drive::stepIncr);
redbird 0:1f5dc83e66d6 97 wait_us(5);
redbird 0:1f5dc83e66d6 98 xMotor.on();
redbird 0:1f5dc83e66d6 99 break;
redbird 0:1f5dc83e66d6 100 case 'y': // y track motor
redbird 0:1f5dc83e66d6 101 yMotor.resetCount();
redbird 0:1f5dc83e66d6 102 yMotor.setDistance(steps);
redbird 0:1f5dc83e66d6 103 yMotor.setDirection(direction);
redbird 0:1f5dc83e66d6 104
redbird 0:1f5dc83e66d6 105 yStepRead.rise(&yMotor, &Drive::stepIncr);
redbird 0:1f5dc83e66d6 106 wait_us(5);
redbird 0:1f5dc83e66d6 107 yMotor.on();
redbird 0:1f5dc83e66d6 108 break;
redbird 0:1f5dc83e66d6 109 case 'f': // friction motor
redbird 0:1f5dc83e66d6 110 fMotor.resetCount();
redbird 0:1f5dc83e66d6 111 fMotor.setDistance(steps);
redbird 0:1f5dc83e66d6 112 fMotor.setDirection(direction);
redbird 0:1f5dc83e66d6 113
redbird 0:1f5dc83e66d6 114 fStepRead.rise(&fMotor, &Drive::stepIncr);
redbird 0:1f5dc83e66d6 115 wait_us(5);
redbird 0:1f5dc83e66d6 116 fMotor.on();
redbird 0:1f5dc83e66d6 117 break;
redbird 0:1f5dc83e66d6 118 }
redbird 0:1f5dc83e66d6 119 }
redbird 0:1f5dc83e66d6 120
redbird 0:1f5dc83e66d6 121 int main() {
redbird 0:1f5dc83e66d6 122 myled1 = 1;
redbird 0:1f5dc83e66d6 123 myled2 = 1;
redbird 0:1f5dc83e66d6 124 myled3 = 1;
redbird 0:1f5dc83e66d6 125 myled4 = 1;
redbird 0:1f5dc83e66d6 126
redbird 0:1f5dc83e66d6 127 while(1){
redbird 0:1f5dc83e66d6 128 motorDrive(xFreq*5, x, cw);
redbird 0:1f5dc83e66d6 129 wait(10.0);
redbird 0:1f5dc83e66d6 130 motorDrive(yFreq*5, y, cw);
redbird 0:1f5dc83e66d6 131 wait(10.0);
redbird 0:1f5dc83e66d6 132 }
redbird 0:1f5dc83e66d6 133 }