Koen Boulogne / Mbed 2 deprecated Project

Basis aansturing projectgroep 3

Dependencies:   Biquad HIDScope MODSERIAL QEI mbed

main.cpp@0:a2db8cc5d5df, 2016-10-03 (annotated)

Committer:
s1588141
Date:
Mon Oct 03 13:14:39 2016 +0000
Revision:
0:a2db8cc5d5df
Child:
1:d8bb72c9c019
Eerste aansturing;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
s1588141 0:a2db8cc5d5df 1 #include "mbed.h"
s1588141 0:a2db8cc5d5df 2 #include "MODSERIAL.h"
s1588141 0:a2db8cc5d5df 3 #include "QEI.h"
s1588141 0:a2db8cc5d5df 4
s1588141 0:a2db8cc5d5df 5 MODSERIAL pc(USBTX, USBRX);
s1588141 0:a2db8cc5d5df 6 ///////////////////////////
s1588141 0:a2db8cc5d5df 7 // Hardware initialiseren//
s1588141 0:a2db8cc5d5df 8 ///////////////////////////
s1588141 0:a2db8cc5d5df 9 //------------------------------------------------------------
s1588141 0:a2db8cc5d5df 10 //--------------------All sensors---------------------------
s1588141 0:a2db8cc5d5df 11 //------------------------------------------------------------
s1588141 0:a2db8cc5d5df 12
s1588141 0:a2db8cc5d5df 13 //--------------------Analog---------------------------------
s1588141 0:a2db8cc5d5df 14 AnalogIn P_M_L(A0); //Motorspeed Left
s1588141 0:a2db8cc5d5df 15 AnalogIn P_M_R(A1); //MotorSpeed Right
s1588141 0:a2db8cc5d5df 16
s1588141 0:a2db8cc5d5df 17 //-------------------Digital----------------------------------
s1588141 0:a2db8cc5d5df 18
s1588141 0:a2db8cc5d5df 19
s1588141 0:a2db8cc5d5df 20 //-------------------Interrupts-------------------------------
s1588141 0:a2db8cc5d5df 21 InterruptIn Dir_L(D0); //Motor Dirrection left
s1588141 0:a2db8cc5d5df 22 InterruptIn Dir_R(D1); //Motor Dirrection Right
s1588141 0:a2db8cc5d5df 23 //------------------------------------------------------------
s1588141 0:a2db8cc5d5df 24 //--------------------All Motors----------------------------
s1588141 0:a2db8cc5d5df 25 //------------------------------------------------------------
s1588141 0:a2db8cc5d5df 26
s1588141 0:a2db8cc5d5df 27 //-------------------- Motor Links----------------------------
s1588141 0:a2db8cc5d5df 28 DigitalOut M_L_D(D4); //Richting motor links
s1588141 0:a2db8cc5d5df 29 PwmOut M_L_S(D5); //Snelheid motor links
s1588141 0:a2db8cc5d5df 30 DigitalOut M_R_D(D7); //Richting motor Rechts
s1588141 0:a2db8cc5d5df 31 PwmOut M_R_S(D6); //Snelheid motor Rechts
s1588141 0:a2db8cc5d5df 32
s1588141 0:a2db8cc5d5df 33 //--------------------------------------------------------------
s1588141 0:a2db8cc5d5df 34 //-----------------------Functions------------------------------
s1588141 0:a2db8cc5d5df 35 //--------------------------------------------------------------
s1588141 0:a2db8cc5d5df 36
s1588141 0:a2db8cc5d5df 37 //-----------------------Interrupts-----------------------------
s1588141 0:a2db8cc5d5df 38 volatile int Motor_Frequency = 1000;
s1588141 0:a2db8cc5d5df 39 void Boot(){
s1588141 0:a2db8cc5d5df 40
s1588141 0:a2db8cc5d5df 41 M_L_S.period(1.0/Motor_Frequency);
s1588141 0:a2db8cc5d5df 42 M_L_D = 1;
s1588141 0:a2db8cc5d5df 43 M_L_S = 0.0;
s1588141 0:a2db8cc5d5df 44 M_R_S.period(1.0/Motor_Frequency);
s1588141 0:a2db8cc5d5df 45 M_R_D = 0;
s1588141 0:a2db8cc5d5df 46 M_R_S= 0.0;
s1588141 0:a2db8cc5d5df 47 }
s1588141 0:a2db8cc5d5df 48 void Switch_Dirr_L(){ // Switching dirrection left motor (Every motor starts in clockwise dirrection)
s1588141 0:a2db8cc5d5df 49 M_L_D = !M_L_D;
s1588141 0:a2db8cc5d5df 50 }
s1588141 0:a2db8cc5d5df 51
s1588141 0:a2db8cc5d5df 52 void Switch_Dirr_R(){ // Switching dirrection Right motor
s1588141 0:a2db8cc5d5df 53 M_R_D = !M_R_D;
s1588141 0:a2db8cc5d5df 54 }
s1588141 0:a2db8cc5d5df 55
s1588141 0:a2db8cc5d5df 56 int main()
s1588141 0:a2db8cc5d5df 57 {
s1588141 0:a2db8cc5d5df 58 //---------------------Setting constants and system booting--------------------
s1588141 0:a2db8cc5d5df 59 pc.baud(115200);
s1588141 0:a2db8cc5d5df 60 pc.printf("\r\n**BOARD RESET**\r\n");
s1588141 0:a2db8cc5d5df 61 Boot();
s1588141 0:a2db8cc5d5df 62
s1588141 0:a2db8cc5d5df 63 Dir_L.fall(Switch_Dirr_L);
s1588141 0:a2db8cc5d5df 64 Dir_R.fall(Switch_Dirr_R);
s1588141 0:a2db8cc5d5df 65
s1588141 0:a2db8cc5d5df 66 while (true) {
s1588141 0:a2db8cc5d5df 67 // control= pc.getc();
s1588141 0:a2db8cc5d5df 68 M_L_S = P_M_L.read()/5.0+0.1;
s1588141 0:a2db8cc5d5df 69 M_R_S = P_M_R.read()/5.0+0.1;
s1588141 0:a2db8cc5d5df 70 //wait(1.0f);
s1588141 0:a2db8cc5d5df 71 pc.printf("%f",M_L_S);
s1588141 0:a2db8cc5d5df 72 }
s1588141 0:a2db8cc5d5df 73 }