Lucas Rosina
/
PM2_Example_PES_board_ros2
Important changes to repositories hosted on mbed.com
Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.
To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.
It is also possible to export all your personal repositories from the account settings page.
Revision 9:f10b974d01e0, committed 2021-04-06
- Comitter:
- pmic
- Date:
- Tue Apr 06 12:19:34 2021 +0000
- Parent:
- 8:9bb806a7f585
- Child:
- 10:c5d85e35758c
- Commit message:
- Introduce FastPWM Libary.
Changed in this revision
| PM2_Libary.lib | Show annotated file Show diff for this revision Revisions of this file |
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/PM2_Libary.lib Tue Apr 06 12:48:09 2021 +0200 +++ b/PM2_Libary.lib Tue Apr 06 12:19:34 2021 +0000 @@ -1,1 +1,1 @@ -https://os.mbed.com/users/pmic/code/PM2_Libary/#8b42e643b294 +https://os.mbed.com/users/pmic/code/PM2_Libary/#6cd242a61e4c
--- a/main.cpp Tue Apr 06 12:48:09 2021 +0200
+++ b/main.cpp Tue Apr 06 12:19:34 2021 +0000
@@ -5,6 +5,7 @@
#include "EncoderCounter.h"
#include "Servo.h"
#include "SpeedController.h"
+#include "FastPWM.h"
// #include "FATFileSystem.h"
// #include "SDBlockDevice.h"
@@ -26,10 +27,10 @@
float dist = 0.0f;
/* create pwm objects */
-PwmOut pwmOut_m0(PB_13);
-PwmOut pwmOut_m1(PA_9);
-PwmOut pwmOut_m2(PA_10);
-float Ts_pwm = 0.00005f;
+FastPWM pwmOut_m0(PB_13);
+FastPWM pwmOut_m1(PA_9);
+FastPWM pwmOut_m2(PA_10);
+double Ts_pwm_s = 0.00005; // this needs to be a double value
/* create enable dc motor digital out object */
DigitalOut enable_motors(PB_15);
/* create encoder read objects */
@@ -55,26 +56,22 @@
// FATFileSystem fs("fs", &sd);
int main()
-{
+{
user_button.fall(&button_fall);
user_button.rise(&button_rise);
loop_timer.start();
/* initialize pwm */
- pwmOut_m0.period(Ts_pwm);
- pwmOut_m1.period(Ts_pwm);
- pwmOut_m2.period(Ts_pwm);
+ pwmOut_m2.period(Ts_pwm_s);
/* set pwm output zero at the beginning, range: 0...1 -> u_min...u_max */
- pwmOut_m1.write(0.5f);
- pwmOut_m0.write(0.5f);
- pwmOut_m2.write(0.5f);
+ pwmOut_m2.write(0.5);
/* enable driver DC motors */
enable_motors = 1;
/* initialize servo */
servo_0.Enable(servoPeriod_mus_0, servoHolePeriod_mus); // 1 ms / 20 ms
servo_1.Enable(servoPeriod_mus_0, servoHolePeriod_mus);
-
+
/*
// example code for sd card, not tested from pmic, 02.04.2021
printf("Test writing... ");
@@ -109,9 +106,9 @@
/* read analog input */
dist = analogIn.read() * 3.3f;
- speedController_m0.setDesiredSpeedRPS( 0.5f);
- speedController_m1.setDesiredSpeedRPS( 0.5f);
- pwmOut_m2.write(0.75f);
+ speedController_m0.setDesiredSpeedRPS( 1.0f);
+ speedController_m1.setDesiredSpeedRPS(-0.5f);
+ pwmOut_m2.write(0.75);
servo_0.SetPosition(servoPeriod_mus_0);
servo_1.SetPosition(servoPeriod_mus_1);
@@ -125,14 +122,14 @@
/* visual feedback that the main task is executed */
led = !led;
-
+
} else {
dist = 0.0f;
- speedController_m0.setDesiredSpeedRPS(0.2f);
- speedController_m1.setDesiredSpeedRPS(0.2f);
- pwmOut_m2.write(0.5f);
+ speedController_m0.setDesiredSpeedRPS(0.0f);
+ speedController_m1.setDesiredSpeedRPS(0.0f);
+ pwmOut_m2.write(0.5);
servoPeriod_mus_0 = 0;
servoPeriod_mus_1 = 0;
@@ -146,9 +143,9 @@
/* do only output what's really necessary*/
printf("%3.3e, %3.3e, %3d, %3d; \r\n", speedController_m0.getSpeedRPS(),
- speedController_m1.getSpeedRPS(),
- servoPeriod_mus_0,
- servoPeriod_mus_1);
+ speedController_m1.getSpeedRPS(),
+ servoPeriod_mus_0,
+ servoPeriod_mus_1);
/* ------------- stop hacking ------------- -------------*/