Ruben Lucas / Mbed 2 deprecated MotorControl

Control of motors

Dependencies:   MODSERIAL QEI mbed

main.cpp@5:f3cca442e347, 2018-09-28 (annotated)

Committer:
rubenlucas
Date:
Fri Sep 28 13:21:22 2018 +0000
Revision:
5:f3cca442e347
Parent:
4:f324aa81d7bd
Child:
6:5b4bd05ca1d6
Encoder works for Potmeter1, but Potmeter2 is still weird

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