Rianne Bulthuis / Mbed 2 deprecated home_position

homeposition definieren

Dependencies:   Encoder HIDScope MODSERIAL QEI mbed

Fork of home_position by Arun Raveenthiran

main.cpp@1:7d5e6bc2b314, 2015-10-19 (annotated)

Committer:
riannebulthuis
Date:
Mon Oct 19 13:44:23 2015 +0000
Revision:
1:7d5e6bc2b314
Parent:
0:65ab9f79a4cc 
homeposition in 3 stappen

Who changed what in which revision?

UserRevisionLine numberNew contents of line
arunr 0:65ab9f79a4cc 1 #include "mbed.h"
arunr 0:65ab9f79a4cc 2 #include "encoder.h"
arunr 0:65ab9f79a4cc 3 #include "HIDScope.h"
riannebulthuis 1:7d5e6bc2b314 4 #include "QEI.h"
riannebulthuis 1:7d5e6bc2b314 5 #include "MODSERIAL.h"
arunr 0:65ab9f79a4cc 6
arunr 0:65ab9f79a4cc 7 DigitalOut motor1_direction(D4);
arunr 0:65ab9f79a4cc 8 PwmOut motor1_speed(D5);
arunr 0:65ab9f79a4cc 9 PwmOut led(D9);
arunr 0:65ab9f79a4cc 10 DigitalIn button_1(PTC6); //counterclockwise
arunr 0:65ab9f79a4cc 11 DigitalIn button_2(PTA4); //clockwise
arunr 0:65ab9f79a4cc 12 Encoder motor1(D12,D13);
arunr 0:65ab9f79a4cc 13 HIDScope scope(1);
arunr 0:65ab9f79a4cc 14
arunr 0:65ab9f79a4cc 15
arunr 0:65ab9f79a4cc 16 const int pressed = 0;
arunr 0:65ab9f79a4cc 17
arunr 0:65ab9f79a4cc 18 double H;
arunr 0:65ab9f79a4cc 19 double P;
arunr 0:65ab9f79a4cc 20 double D;
arunr 0:65ab9f79a4cc 21
arunr 0:65ab9f79a4cc 22
arunr 0:65ab9f79a4cc 23 void sethome(){
arunr 0:65ab9f79a4cc 24 motor1.setPosition(0);
arunr 0:65ab9f79a4cc 25 H = motor1.getPosition();
arunr 0:65ab9f79a4cc 26 }
arunr 0:65ab9f79a4cc 27
arunr 0:65ab9f79a4cc 28 void move_motor1_ccw (){
arunr 0:65ab9f79a4cc 29 motor1_direction = 0;
arunr 0:65ab9f79a4cc 30 motor1_speed = 0.8;
arunr 0:65ab9f79a4cc 31 }
arunr 0:65ab9f79a4cc 32
arunr 0:65ab9f79a4cc 33 void move_motor1_cw (){
arunr 0:65ab9f79a4cc 34 motor1_direction = 1;
arunr 0:65ab9f79a4cc 35 motor1_speed = 0.8;
arunr 0:65ab9f79a4cc 36 }
arunr 0:65ab9f79a4cc 37
arunr 0:65ab9f79a4cc 38 void movetohome(){
arunr 0:65ab9f79a4cc 39 P = motor1.getPosition();
arunr 0:65ab9f79a4cc 40 D = (P - H);
arunr 0:65ab9f79a4cc 41
arunr 0:65ab9f79a4cc 42 if (D == 0){
arunr 0:65ab9f79a4cc 43 motor1_speed = 0;
arunr 0:65ab9f79a4cc 44 }
arunr 0:65ab9f79a4cc 45 else if (D > 0){
arunr 0:65ab9f79a4cc 46 move_motor1_cw();
arunr 0:65ab9f79a4cc 47 }
arunr 0:65ab9f79a4cc 48 else if (D < 0){
arunr 0:65ab9f79a4cc 49 move_motor1_ccw();
arunr 0:65ab9f79a4cc 50 }
arunr 0:65ab9f79a4cc 51 }
arunr 0:65ab9f79a4cc 52
arunr 0:65ab9f79a4cc 53 void move_motor1()
arunr 0:65ab9f79a4cc 54 {
arunr 0:65ab9f79a4cc 55 if (button_1 == pressed) {
arunr 0:65ab9f79a4cc 56 move_motor1_cw ();
riannebulthuis 1:7d5e6bc2b314 57 } else if (button_2 == pressed) {
riannebulthuis 1:7d5e6bc2b314 58 move_motor1_ccw ();
riannebulthuis 1:7d5e6bc2b314 59 } else {
riannebulthuis 1:7d5e6bc2b314 60 motor1_speed = 0;
arunr 0:65ab9f79a4cc 61 }
arunr 0:65ab9f79a4cc 62 }
arunr 0:65ab9f79a4cc 63
arunr 0:65ab9f79a4cc 64 void read_encoder1 () // aflezen van encoder via hidscope??
arunr 0:65ab9f79a4cc 65 {
arunr 0:65ab9f79a4cc 66 scope.set(0,motor1.getPosition());
arunr 0:65ab9f79a4cc 67 led.write(motor1.getPosition()/100.0);
arunr 0:65ab9f79a4cc 68 scope.send();
arunr 0:65ab9f79a4cc 69 wait(0.2f);
arunr 0:65ab9f79a4cc 70 }
arunr 0:65ab9f79a4cc 71
arunr 0:65ab9f79a4cc 72 int main()
arunr 0:65ab9f79a4cc 73 {
arunr 0:65ab9f79a4cc 74 while (true) {
riannebulthuis 1:7d5e6bc2b314 75 pc.baud(9600); //pc baud rate van de computer
riannebulthuis 1:7d5e6bc2b314 76
riannebulthuis 1:7d5e6bc2b314 77 switch (state) { //zorgt voor het in goede volgorde uitvoeren van de cases
riannebulthuis 1:7d5e6bc2b314 78
riannebulthuis 1:7d5e6bc2b314 79 case gotohomeposition: //positie op 0 zetten voor arm 1
riannebulthuis 1:7d5e6bc2b314 80 {
riannebulthuis 1:7d5e6bc2b314 81 read_encoder1();
riannebulthuis 1:7d5e6bc2b314 82 sethome();
riannebulthuis 1:7d5e6bc2b314 83 state = move_motor;
riannebulthuis 1:7d5e6bc2b314 84 break;
riannebulthuis 1:7d5e6bc2b314 85 }
riannebulthuis 1:7d5e6bc2b314 86
riannebulthuis 1:7d5e6bc2b314 87 case move_motor: //motor kan cw en ccw bewegen a.d.h.v. buttons
riannebulthuis 1:7d5e6bc2b314 88 {
riannebulthuis 1:7d5e6bc2b314 89 move_motor1 ();
riannebulthuis 1:7d5e6bc2b314 90 state = homeposition;
riannebulthuis 1:7d5e6bc2b314 91 break;
riannebulthuis 1:7d5e6bc2b314 92 }
riannebulthuis 1:7d5e6bc2b314 93
riannebulthuis 1:7d5e6bc2b314 94 case backtohomeposition: //motor gaat terug naar homeposition
riannebulthuis 1:7d5e6bc2b314 95 {
riannebulthuis 1:7d5e6bc2b314 96 movetohome();
riannebulthuis 1:7d5e6bc2b314 97 break;
riannebulthuis 1:7d5e6bc2b314 98 }
arunr 0:65ab9f79a4cc 99 }