Ruben Lucas / Mbed 2 deprecated MotorControl

Control of motors

Dependencies:   MODSERIAL QEI mbed

main.cpp@6:5b4bd05ca1d6, 2018-10-01 (annotated)

Committer:
rubenlucas
Date:
Mon Oct 01 11:25:43 2018 +0000
Revision:
6:5b4bd05ca1d6
Parent:
5:f3cca442e347 
Second encoder added and timername changed to TimerCounts

Who changed what in which revision?

UserRevisionLine numberNew contents of line
rubenlucas 0:2d34e3627dae 1 #include "mbed.h"
rubenlucas 0:2d34e3627dae 2 #include "QEI.h"
rubenlucas 3:fea443c3be53 3 #include "MODSERIAL.h"
rubenlucas 0:2d34e3627dae 4 #include "math.h"
rubenlucas 0:2d34e3627dae 5
rubenlucas 4:f324aa81d7bd 6
rubenlucas 4:f324aa81d7bd 7 MODSERIAL pc(USBTX,USBRX);
rubenlucas 4:f324aa81d7bd 8 Ticker TickerReadPots;
rubenlucas 4:f324aa81d7bd 9 Ticker TickerGetCounts;
rubenlucas 5:f3cca442e347 10 QEI Encoder1(D10,D11,NC,32);
rubenlucas 6:5b4bd05ca1d6 11 QEI Encoder2(D12,D13,NC,32);
rubenlucas 6:5b4bd05ca1d6 12 Timer TimerCounts;
rubenlucas 4:f324aa81d7bd 13
rubenlucas 0:2d34e3627dae 14 DigitalOut DirectionPin1(D4);
rubenlucas 1:941f4059c0de 15 DigitalOut DirectionPin2(D7);
rubenlucas 0:2d34e3627dae 16 PwmOut PwmPin1(D5);
rubenlucas 1:941f4059c0de 17 PwmOut PwmPin2(D6);
rubenlucas 0:2d34e3627dae 18 AnalogIn potmeter1(A0);
rubenlucas 0:2d34e3627dae 19 AnalogIn potmeter2(A1);
rubenlucas 4:f324aa81d7bd 20
rubenlucas 0:2d34e3627dae 21
rubenlucas 0:2d34e3627dae 22 volatile float Duty1;
rubenlucas 0:2d34e3627dae 23 volatile float Duty2;
rubenlucas 0:2d34e3627dae 24 volatile float MotorSignal1;
rubenlucas 0:2d34e3627dae 25 volatile float MotorSignal2;
rubenlucas 6:5b4bd05ca1d6 26 volatile int counts1;
rubenlucas 6:5b4bd05ca1d6 27 volatile int counts2;
rubenlucas 0:2d34e3627dae 28
rubenlucas 4:f324aa81d7bd 29 // function for reading potentiometers and set to dutycycle
rubenlucas 0:2d34e3627dae 30 void ReadPots(void)
rubenlucas 0:2d34e3627dae 31 {
rubenlucas 0:2d34e3627dae 32 Duty1 = potmeter1.read(); // read value potentiometer 1
rubenlucas 0:2d34e3627dae 33 Duty2 = potmeter2.read(); // read value potentiometer 2
rubenlucas 0:2d34e3627dae 34
rubenlucas 0:2d34e3627dae 35 MotorSignal1 = 2*Duty1 - 1; //scaling potmeter to motor control signal [0 - 1] --> [(-1) - 1]
rubenlucas 3:fea443c3be53 36 MotorSignal2 = 1 - 2*Duty2;
rubenlucas 6:5b4bd05ca1d6 37 counts1 = Encoder1.getPulses();
rubenlucas 6:5b4bd05ca1d6 38 counts2 = Encoder2.getPulses();
rubenlucas 0:2d34e3627dae 39 }
rubenlucas 0:2d34e3627dae 40
rubenlucas 4:f324aa81d7bd 41
rubenlucas 4:f324aa81d7bd 42
rubenlucas 4:f324aa81d7bd 43
rubenlucas 0:2d34e3627dae 44 int main()
rubenlucas 0:2d34e3627dae 45 {
rubenlucas 3:fea443c3be53 46 pc.baud(115200);
rubenlucas 4:f324aa81d7bd 47 pc.printf("Hello World!\r\n");
rubenlucas 0:2d34e3627dae 48 PwmPin1.period_us(60); // 16.66667 kHz (default period is too slow!)
rubenlucas 5:f3cca442e347 49 TickerReadPots.attach(&ReadPots,0.1); // every 100 milli seconds.
rubenlucas 6:5b4bd05ca1d6 50 TimerCounts.start();
rubenlucas 0:2d34e3627dae 51 while (true)
rubenlucas 0:2d34e3627dae 52 {
rubenlucas 0:2d34e3627dae 53 // motor 1
rubenlucas 0:2d34e3627dae 54 DirectionPin1 = MotorSignal1 > 0.0f; //either true or false, CW or CCW
rubenlucas 0:2d34e3627dae 55 PwmPin1 = fabs(MotorSignal1); //pwm duty cycle can only be positive, floating point absolute value
rubenlucas 0:2d34e3627dae 56
rubenlucas 0:2d34e3627dae 57 // motor 2
rubenlucas 0:2d34e3627dae 58 DirectionPin2 = MotorSignal2 > 0.0f;
rubenlucas 0:2d34e3627dae 59 PwmPin2 = fabs(MotorSignal2);
rubenlucas 0:2d34e3627dae 60
rubenlucas 6:5b4bd05ca1d6 61 float Time = TimerCounts.read();
rubenlucas 5:f3cca442e347 62
rubenlucas 5:f3cca442e347 63 if (Time > 1.0)
rubenlucas 5:f3cca442e347 64 {
rubenlucas 6:5b4bd05ca1d6 65 pc.printf("number of counts per second: motor 1 = %i and motor 2 = %i\n\r",counts1,counts2);
rubenlucas 6:5b4bd05ca1d6 66 TimerCounts.reset();
rubenlucas 5:f3cca442e347 67 Encoder1.reset();
rubenlucas 6:5b4bd05ca1d6 68 Encoder2.reset();
rubenlucas 5:f3cca442e347 69 }
rubenlucas 5:f3cca442e347 70
rubenlucas 0:2d34e3627dae 71 wait(0.01); //Do while loop a hundred times per second.
rubenlucas 0:2d34e3627dae 72 }
rubenlucas 0:2d34e3627dae 73 }