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Dependencies: Nucleo_Hello_Encoder mbed
Revision 0:1c8034b7f565, committed 2016-09-01
- Comitter:
- sakanakuuun
- Date:
- Thu Sep 01 06:38:13 2016 +0000
- Child:
- 1:026846d05bb7
- Commit message:
- f
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Nucleo_Hello_Encoder.lib Thu Sep 01 06:38:13 2016 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/users/sakanakuuun/code/Nucleo_Hello_Encoder/#8349e61b6152
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Thu Sep 01 06:38:13 2016 +0000
@@ -0,0 +1,56 @@
+#include "mbed.h"
+#include "Encoder.h"
+#include "prime.h"
+
+
+//STM mbed bug: these macros are MISSING from stm32f3xx_hal_tim.h
+#ifdef TARGET_STM32F3
+#define __HAL_TIM_GET_COUNTER(__HANDLE__) ((__HANDLE__)->Instance->CNT)
+#define __HAL_TIM_IS_TIM_COUNTING_DOWN(__HANDLE__) (((__HANDLE__)->Instance->CR1 &(TIM_CR1_DIR)) == (TIM_CR1_DIR))
+#endif
+
+
+Serial pc(SERIAL_TX, SERIAL_RX);
+
+DigitalOut right_v(PC_7);
+
+int main()
+{
+ right_v = 1;
+
+ TIM_Encoder_InitTypeDef encoder1, encoder2;
+ TIM_HandleTypeDef timer1, timer2;
+
+
+ //counting on A-input only, 2 ticks per cycle, rolls over at 100
+ EncoderInit(&encoder1, &timer1, TIM1, 99, TIM_ENCODERMODE_TI1);
+
+ //counting on both A&B inputs, 4 ticks per cycle, full 32-bit count
+ EncoderInit(&encoder2, &timer2, TIM2, 0xffffffff, TIM_ENCODERMODE_TI12);
+
+ pc.printf("STM HAL encoder demo\n\r");
+
+ while(1) {
+ uint16_t count1=0;
+ uint32_t count2=0;
+ int8_t dir1, dir2;
+
+
+ //OK 401 411 446 TICKER 030
+ //count1=TIM1->CNT;
+ //dir1=TIM1->CR1&TIM_CR1_DIR;
+ count1=__HAL_TIM_GET_COUNTER(&timer1);
+ dir1 = __HAL_TIM_IS_TIM_COUNTING_DOWN(&timer1);
+
+ //OK 401 411 446 NOK 030
+ //count2=TIM2->CNT;
+ //dir2=TIM2->CR1&TIM_CR1_DIR;
+ count2=__HAL_TIM_GET_COUNTER(&timer2);
+ dir2 = __HAL_TIM_IS_TIM_COUNTING_DOWN(&timer2);
+
+ move(10,10);
+ pc.printf("%d%s %d%s %d%s %d%s\r\n", count1, dir1==0 ? "+":"-",
+ count2, dir2==0 ? "+":"-");
+ wait(0.5);
+ }
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Thu Sep 01 06:38:13 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/2241e3a39974 \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/prime.h Thu Sep 01 06:38:13 2016 +0000
@@ -0,0 +1,292 @@
+
+/*
+primeではPINを制御する関数を扱う。
+
+以下一覧
+open,close hand
+open close arm
+
+step
+move
+blueorred
+lrsensor
+
+全関数共通で意図しない動作が起きたら基板上のLEDを点灯
+*/
+PwmOut pwmarm(PC_6);
+PwmOut pwmhand(PC_8);
+
+AnalogIn rightsensor(A0);
+AnalogIn leftsensor(A1);
+
+AnalogIn armadj(A2);
+AnalogIn handadj(A3);
+
+DigitalIn teamSW(PC_11);
+DigitalOut teamledblue(PC_10);
+DigitalOut teamledred(PC_12);
+
+DigitalOut errorled(LED1);
+
+
+DigitalIn phase1(PB_8);
+DigitalIn phase2(PC_9);
+DigitalIn phase4(PB_9);
+DigitalIn phase8(PD_2);
+
+PwmOut M1cw(PA_11);
+PwmOut M1ccw(PB_15);
+PwmOut M2ccw(PB_14);
+PwmOut M2cw(PB_13);
+
+DigitalOut PINW(PA_3);
+DigitalOut PINX(PA_2);
+DigitalOut PINY(PA_10);
+DigitalOut PINZ(PB_3);
+
+
+
+
+DigitalOut encordervcc1(PA_6);
+DigitalOut encordervcc2(PA_14);
+
+const int PERIOD=20000;
+
+
+void initencorder(void){
+ encordervcc1=1;
+ encordervcc2=1;
+ }
+
+
+
+void close_hand(void) {
+ int i,degree;
+
+ pwmhand.period_ms(20); //20ms
+
+ degree=175;
+
+ i=500+degree*1900/180;
+ pwmhand.write(i/PERIOD);
+
+
+}
+
+void close_arm(void) {
+ PwmOut mypwm(PB_3);
+ int i,degree;
+
+ mypwm.period_ms(20); //20ms
+
+ degree=160;
+
+ i=500+degree*1900/180;
+ pwmarm.write(i/PERIOD);
+
+
+}
+
+
+
+void open_hand(void) {
+ PwmOut mypwm(PWM_OUT);
+ int i,degree;
+
+ pwmhand.period_ms(20); //20ms
+
+ degree=90;
+
+ i=500+degree*1900/180;
+ mypwm.write(i/PERIOD);
+
+
+}
+
+
+
+void open_arm(void) {
+ PwmOut mypwm(PWM_OUT);
+ int i,degree;
+
+ mypwm.period_ms(20); //20ms
+
+ degree=10;
+
+ i=500+degree*1900/180;
+ pwmarm.write(i/PERIOD);
+
+
+}
+
+void step(int degree){
+
+
+
+ int puls_times=0;
+
+ if(degree>0){
+
+ puls_times=1+(int)(degree/(3.75));
+
+ while(1){
+ PINW=1;
+ PINX=1;
+ PINY=0;
+ PINZ=0;
+ wait_ms(20);
+ puls_times--;
+
+ if(puls_times<0){break;}
+
+ PINW=0;
+ PINX=1;
+ PINY=1;
+ PINZ=0;
+ wait_ms(20);
+ puls_times--;
+
+ if(puls_times<0){break;}
+
+ PINW=0;
+ PINX=0;
+ PINY=1;
+ PINZ=1;
+ wait_ms(20);
+ puls_times--;
+
+ if(puls_times<0){break;}
+
+ PINW=1;
+ PINX=1;
+ PINY=0;
+ PINZ=0;
+ wait_ms(20);
+ puls_times--;
+
+ if(puls_times<0){break;}
+ }
+
+ }
+
+ if(degree<0){
+
+ puls_times=(-1)*(1+(int)(degree/(3.75)));
+
+ while(1){
+ PINW=1;
+ PINX=1;
+ PINY=0;
+ PINZ=0;
+ wait_ms(20);
+ puls_times--;
+
+ if(puls_times<0){break;}
+
+ PINW=1;
+ PINX=0;
+ PINY=0;
+ PINZ=1;
+ wait_ms(20);
+ puls_times--;
+
+ if(puls_times<0){break;}
+
+ PINW=0;
+ PINX=0;
+ PINY=1;
+ PINZ=1;
+ wait_ms(20);
+ puls_times--;
+
+ if(puls_times<0){break;}
+
+ PINW=0;
+ PINX=1;
+ PINY=1;
+ PINZ=0;
+ wait_ms(20);
+ puls_times--;
+
+ if(puls_times<0){break;}
+ }
+
+ }
+
+}
+
+
+
+int sensor(void){
+ //センサー読
+ int right ,left,x,y;
+
+ right=rightsensor.read();
+ left=leftsensor.read();
+
+ if(right>0.5){x=1;}
+ else{right=0;}
+
+ if(left>0.5){y=1;}
+ else{left=0;}
+
+ return x+2*(y);
+ //(right,left)=(off,off),(on,off),(off,on),(on,on)
+ // 0 1 2 3
+}
+
+
+
+void initmotor(){
+
+
+ M1cw.period_us(256);
+ M1ccw.period_us(256);
+ M2cw.period_us(256);
+ M2ccw.period_us(256);
+
+}
+
+void move(int right,int left){
+
+ float rightduty,leftduty;
+
+ if(right>256){right=256;}
+ if(left>256){left=256;}
+ if(right<-256){right=-256;}
+ if(left<-256){left=-256;}
+
+ rightduty=right/256.0;
+ leftduty=left/256.0;
+ if(right>0){
+ M1cw.write(1-rightduty);
+ M1ccw.write(1);
+ }else{
+ M1cw.write(1);
+ M1ccw.write(1+rightduty);
+ }
+
+ if(left>0){
+ M2cw.write(1-leftduty);
+ M2ccw.write(1);
+ }else{
+ M2cw.write(1);
+ M2ccw.write(1+leftduty);
+ }
+}
+
+
+int phase(void){
+
+ phase1.mode(PullUp);
+ phase2.mode(PullUp);
+ phase4.mode(PullUp);
+ phase8.mode(PullUp);
+
+ int r=0;
+
+ r=phase1+2*phase2+4*phase4+8*phase8;
+
+ return r;
+}
+