Roger Weng / Mbed 2 deprecated MotorControl

Motor control on mbed

Dependencies:   mbed

main.cpp@1:f47edcd44466, 2016-07-23 (annotated)

Committer:
roger5641
Date:
Sat Jul 23 16:00:05 2016 +0000
Revision:
1:f47edcd44466
Parent:
0:f76be6916639 
CN interrupt

Who changed what in which revision?

UserRevisionLine numberNew contents of line
roger5641 0:f76be6916639 1 #include "mbed.h"
roger5641 0:f76be6916639 2
roger5641 0:f76be6916639 3 //Motor sensor
roger5641 0:f76be6916639 4 InterruptIn HallA(D3);
roger5641 0:f76be6916639 5 InterruptIn HallB(D4);
roger5641 0:f76be6916639 6 InterruptIn HallC(D5);
roger5641 0:f76be6916639 7
roger5641 0:f76be6916639 8 void init_CN(void);
roger5641 0:f76be6916639 9 void CN_interrupt(void);
roger5641 0:f76be6916639 10
roger5641 1:f47edcd44466 11 int8_t stateA=0, stateB=0, stateC=0;
roger5641 0:f76be6916639 12 int8_t state_1 = 0, state_1_old = 0;
roger5641 1:f47edcd44466 13 int vCount;
roger5641 0:f76be6916639 14
roger5641 0:f76be6916639 15 int main() {
roger5641 1:f47edcd44466 16 init_CN();
roger5641 0:f76be6916639 17
roger5641 0:f76be6916639 18 while(1)
roger5641 0:f76be6916639 19 {
roger5641 0:f76be6916639 20 ;
roger5641 0:f76be6916639 21 }
roger5641 0:f76be6916639 22 }
roger5641 0:f76be6916639 23
roger5641 1:f47edcd44466 24 void CN_interrupt(void)
roger5641 1:f47edcd44466 25 {
roger5641 1:f47edcd44466 26 //Motor 1
roger5641 1:f47edcd44466 27 stateA = HallA.read();
roger5641 1:f47edcd44466 28 stateB = HallB.read();
roger5641 1:f47edcd44466 29 stateC = HallC.read();
roger5641 1:f47edcd44466 30
roger5641 1:f47edcd44466 31 ///code for state determination///
roger5641 1:f47edcd44466 32 if (stateA == 1)
roger5641 1:f47edcd44466 33 {
roger5641 1:f47edcd44466 34 if (stateB == 1)
roger5641 1:f47edcd44466 35 if(stateC == 0)
roger5641 1:f47edcd44466 36 {
roger5641 1:f47edcd44466 37 state_1 = 2;
roger5641 1:f47edcd44466 38 }
roger5641 1:f47edcd44466 39 else
roger5641 1:f47edcd44466 40 {
roger5641 1:f47edcd44466 41 ;
roger5641 1:f47edcd44466 42 }
roger5641 1:f47edcd44466 43 else
roger5641 1:f47edcd44466 44 if(stateC == 1)
roger5641 1:f47edcd44466 45 {
roger5641 1:f47edcd44466 46 state_1 = 6;
roger5641 1:f47edcd44466 47 }
roger5641 1:f47edcd44466 48 else
roger5641 1:f47edcd44466 49 {
roger5641 1:f47edcd44466 50 state_1 = 1;
roger5641 1:f47edcd44466 51 }
roger5641 1:f47edcd44466 52 }
roger5641 1:f47edcd44466 53 else
roger5641 1:f47edcd44466 54 {
roger5641 1:f47edcd44466 55 if (stateB == 1)
roger5641 1:f47edcd44466 56 if(stateC == 1)
roger5641 1:f47edcd44466 57 {
roger5641 1:f47edcd44466 58 state_1 = 4;
roger5641 1:f47edcd44466 59 }
roger5641 1:f47edcd44466 60 else
roger5641 1:f47edcd44466 61 {
roger5641 1:f47edcd44466 62 state_1 = 3;
roger5641 1:f47edcd44466 63 }
roger5641 1:f47edcd44466 64 else
roger5641 1:f47edcd44466 65 if(stateC == 1)
roger5641 1:f47edcd44466 66 {
roger5641 1:f47edcd44466 67 state_1 = 5;
roger5641 1:f47edcd44466 68 }
roger5641 1:f47edcd44466 69 else
roger5641 1:f47edcd44466 70 {
roger5641 1:f47edcd44466 71 ;
roger5641 1:f47edcd44466 72 }
roger5641 1:f47edcd44466 73 }
roger5641 1:f47edcd44466 74
roger5641 1:f47edcd44466 75 //Forward: vCount +1
roger5641 1:f47edcd44466 76 //Inverse: vCount -1
roger5641 1:f47edcd44466 77 if ( (state_1 == (state_1_old + 1)) || (state_1 == 1 && state_1_old == 6) )
roger5641 1:f47edcd44466 78 vCount++;
roger5641 1:f47edcd44466 79 else if ( (state_1 == (state_1_old - 1)) || (state_1 == 6 && state_1_old == 1))
roger5641 1:f47edcd44466 80 vCount--;
roger5641 1:f47edcd44466 81
roger5641 1:f47edcd44466 82 state_1_old = state_1;
roger5641 1:f47edcd44466 83 }
roger5641 0:f76be6916639 84
roger5641 0:f76be6916639 85 void init_CN(void)
roger5641 0:f76be6916639 86 {
roger5641 0:f76be6916639 87 HallA.rise(&CN_interrupt);
roger5641 0:f76be6916639 88 HallA.fall(&CN_interrupt);
roger5641 0:f76be6916639 89 HallB.rise(&CN_interrupt);
roger5641 0:f76be6916639 90 HallB.fall(&CN_interrupt);
roger5641 0:f76be6916639 91 HallC.rise(&CN_interrupt);
roger5641 0:f76be6916639 92 HallC.fall(&CN_interrupt);
roger5641 0:f76be6916639 93
roger5641 0:f76be6916639 94 stateA = HallA.read();
roger5641 0:f76be6916639 95 stateB = HallB.read();
roger5641 0:f76be6916639 96 stateC = HallC.read();
roger5641 0:f76be6916639 97
roger5641 0:f76be6916639 98 }