mag niet van hendrik D:
Dependencies: mbed MatrixMath QEI HIDScope Matrix biquadFilter MODSERIAL FastPWM
main.cpp@17:cacf9e75eda7, 2019-09-23 (annotated)
- Committer:
- Hendrikvg
- Date:
- Mon Sep 23 14:21:30 2019 +0000
- Revision:
- 17:cacf9e75eda7
- Parent:
- 16:40183eeadb6d
- Child:
- 18:50c04dd523ea
Finite State Machine met 3 states: rust, CW, CCW. Snelheid en felheid LED instelbaar dmv potentiometer. Encoder werkt voor de draaing van de end effector van de motor. Ticker functie werkt.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Hendrikvg | 17:cacf9e75eda7 | 1 | #include "QEI.h" |
Hendrikvg | 15:80b3ac2b8448 | 2 | #include "mbed.h" |
Hendrikvg | 14:20f11bb58244 | 3 | #include "FastPWM.h" |
Hendrikvg | 17:cacf9e75eda7 | 4 | #include "HIDScope.h" |
Hendrikvg | 16:40183eeadb6d | 5 | #include "MODSERIAL.h" |
Hendrikvg | 9:12b9865e7373 | 6 | |
Hendrikvg | 15:80b3ac2b8448 | 7 | MODSERIAL pc(USBTX, USBRX); |
Hendrikvg | 15:80b3ac2b8448 | 8 | DigitalOut ledr(LED_RED); |
Hendrikvg | 15:80b3ac2b8448 | 9 | DigitalOut ledg(LED_GREEN); |
Hendrikvg | 15:80b3ac2b8448 | 10 | DigitalOut ledb(LED_BLUE); |
Hendrikvg | 16:40183eeadb6d | 11 | Ticker ReduceEmission; |
Hendrikvg | 15:80b3ac2b8448 | 12 | Timer R; |
Hendrikvg | 15:80b3ac2b8448 | 13 | Timer G; |
Hendrikvg | 15:80b3ac2b8448 | 14 | Timer B; |
Hendrikvg | 15:80b3ac2b8448 | 15 | |
Hendrikvg | 9:12b9865e7373 | 16 | InterruptIn BUT1(D1); |
Hendrikvg | 9:12b9865e7373 | 17 | InterruptIn BUT2(D0); |
Hendrikvg | 14:20f11bb58244 | 18 | FastPWM lichtje(D3); |
Hendrikvg | 9:12b9865e7373 | 19 | AnalogIn ain(A0); |
Hendrikvg | 14:20f11bb58244 | 20 | DigitalOut direction(D6); |
Hendrikvg | 14:20f11bb58244 | 21 | DigitalOut speed(D7); |
RobertoO | 0:67c50348f842 | 22 | |
Hendrikvg | 17:cacf9e75eda7 | 23 | HIDScope scope(2); |
Hendrikvg | 17:cacf9e75eda7 | 24 | QEI encoder(D12,D13,NC,64,QEI::X4_ENCODING); |
Hendrikvg | 17:cacf9e75eda7 | 25 | Ticker RW_scope; |
Hendrikvg | 17:cacf9e75eda7 | 26 | |
Hendrikvg | 15:80b3ac2b8448 | 27 | // variables |
Hendrikvg | 15:80b3ac2b8448 | 28 | |
Hendrikvg | 15:80b3ac2b8448 | 29 | volatile char command = 'r'; |
Hendrikvg | 15:80b3ac2b8448 | 30 | enum states {red, green, blue}; |
Hendrikvg | 15:80b3ac2b8448 | 31 | states CurrentState = red; |
Hendrikvg | 15:80b3ac2b8448 | 32 | bool StateChanged = true; |
Hendrikvg | 15:80b3ac2b8448 | 33 | |
Hendrikvg | 16:40183eeadb6d | 34 | volatile int on_time_ms; // The time the LED should be on, in microseconds |
Hendrikvg | 16:40183eeadb6d | 35 | volatile int off_time_ms; |
Hendrikvg | 15:80b3ac2b8448 | 36 | |
Hendrikvg | 17:cacf9e75eda7 | 37 | int degrees; |
Hendrikvg | 17:cacf9e75eda7 | 38 | volatile double x; |
Hendrikvg | 17:cacf9e75eda7 | 39 | volatile double x_prev=0; |
Hendrikvg | 17:cacf9e75eda7 | 40 | volatile double y; |
Hendrikvg | 17:cacf9e75eda7 | 41 | |
Hendrikvg | 9:12b9865e7373 | 42 | int n=5; |
Hendrikvg | 2:d9b0ebf3fcca | 43 | |
Hendrikvg | 15:80b3ac2b8448 | 44 | // functions |
Hendrikvg | 15:80b3ac2b8448 | 45 | |
Hendrikvg | 9:12b9865e7373 | 46 | void plus() |
Hendrikvg | 9:12b9865e7373 | 47 | { |
Hendrikvg | 9:12b9865e7373 | 48 | n++; // n=n+1 |
Hendrikvg | 15:80b3ac2b8448 | 49 | if (n>10) { |
Hendrikvg | 9:12b9865e7373 | 50 | n=10; |
Hendrikvg | 9:12b9865e7373 | 51 | } |
Hendrikvg | 15:80b3ac2b8448 | 52 | } |
Hendrikvg | 15:80b3ac2b8448 | 53 | |
Hendrikvg | 9:12b9865e7373 | 54 | void min() |
Hendrikvg | 8:d1794f225fff | 55 | { |
Hendrikvg | 9:12b9865e7373 | 56 | n--; |
Hendrikvg | 15:80b3ac2b8448 | 57 | if (n<0) { |
Hendrikvg | 9:12b9865e7373 | 58 | n=0; |
Hendrikvg | 7:d307e31f7391 | 59 | } |
Hendrikvg | 15:80b3ac2b8448 | 60 | } |
Hendrikvg | 7:d307e31f7391 | 61 | |
Hendrikvg | 16:40183eeadb6d | 62 | void TurnLedRed() |
Hendrikvg | 16:40183eeadb6d | 63 | { |
Hendrikvg | 16:40183eeadb6d | 64 | ledr = 0; |
Hendrikvg | 16:40183eeadb6d | 65 | ledg = 1; |
Hendrikvg | 16:40183eeadb6d | 66 | ledb = 1; |
Hendrikvg | 16:40183eeadb6d | 67 | } |
Hendrikvg | 16:40183eeadb6d | 68 | |
Hendrikvg | 16:40183eeadb6d | 69 | void TurnLedGreen() |
Hendrikvg | 16:40183eeadb6d | 70 | { |
Hendrikvg | 16:40183eeadb6d | 71 | ledr = 1; |
Hendrikvg | 16:40183eeadb6d | 72 | ledg = 0; |
Hendrikvg | 16:40183eeadb6d | 73 | ledb = 1; |
Hendrikvg | 16:40183eeadb6d | 74 | } |
Hendrikvg | 16:40183eeadb6d | 75 | |
Hendrikvg | 16:40183eeadb6d | 76 | void TurnLedBlue() |
Hendrikvg | 16:40183eeadb6d | 77 | { |
Hendrikvg | 16:40183eeadb6d | 78 | ledr = 1; |
Hendrikvg | 16:40183eeadb6d | 79 | ledg = 1; |
Hendrikvg | 16:40183eeadb6d | 80 | ledb = 0; |
Hendrikvg | 16:40183eeadb6d | 81 | } |
Hendrikvg | 16:40183eeadb6d | 82 | |
Hendrikvg | 16:40183eeadb6d | 83 | void PulseWidthModulation() // Bepaalt de duty cycle gebaseerd op de potentiometer en zet de motor dan op die snelheid mbh PWM |
Hendrikvg | 16:40183eeadb6d | 84 | { |
Hendrikvg | 16:40183eeadb6d | 85 | on_time_ms = (int) (ain.read()*(1.0/50)*1.0e3); |
Hendrikvg | 16:40183eeadb6d | 86 | off_time_ms = (int) ((1-ain.read())*(1.0/50)*1.0e3); |
Hendrikvg | 16:40183eeadb6d | 87 | direction = 1; |
Hendrikvg | 16:40183eeadb6d | 88 | wait_ms(on_time_ms); |
Hendrikvg | 16:40183eeadb6d | 89 | direction = 0; |
Hendrikvg | 16:40183eeadb6d | 90 | wait_ms(off_time_ms); |
Hendrikvg | 16:40183eeadb6d | 91 | } |
Hendrikvg | 16:40183eeadb6d | 92 | |
Hendrikvg | 16:40183eeadb6d | 93 | void EnergySaving() // Functie voor de "ReduceEmissions" ticker, zet de motor uit en LED op rood |
Hendrikvg | 16:40183eeadb6d | 94 | { |
Hendrikvg | 16:40183eeadb6d | 95 | command = 'r'; |
Hendrikvg | 16:40183eeadb6d | 96 | } |
Hendrikvg | 16:40183eeadb6d | 97 | |
Hendrikvg | 16:40183eeadb6d | 98 | void CheckCommandFromTerminal(void) // Functie voor de in de main loop |
Hendrikvg | 16:40183eeadb6d | 99 | { |
Hendrikvg | 16:40183eeadb6d | 100 | command = pc.getcNb(); |
Hendrikvg | 16:40183eeadb6d | 101 | } |
Hendrikvg | 16:40183eeadb6d | 102 | |
Hendrikvg | 16:40183eeadb6d | 103 | void WhileRed() |
Hendrikvg | 16:40183eeadb6d | 104 | { |
Hendrikvg | 16:40183eeadb6d | 105 | if (command == 'g') { |
Hendrikvg | 16:40183eeadb6d | 106 | R.stop(); |
Hendrikvg | 16:40183eeadb6d | 107 | pc.printf("The LED has been red for %f seconds!\n\r", R.read()); |
Hendrikvg | 16:40183eeadb6d | 108 | CurrentState= green; |
Hendrikvg | 16:40183eeadb6d | 109 | StateChanged= true; |
Hendrikvg | 16:40183eeadb6d | 110 | } |
Hendrikvg | 16:40183eeadb6d | 111 | if (command == 'b') { |
Hendrikvg | 16:40183eeadb6d | 112 | R.stop(); |
Hendrikvg | 16:40183eeadb6d | 113 | pc.printf("The LED has been red for %f seconds!\n\r", R.read()); |
Hendrikvg | 16:40183eeadb6d | 114 | CurrentState= blue; |
Hendrikvg | 16:40183eeadb6d | 115 | StateChanged= true; |
Hendrikvg | 16:40183eeadb6d | 116 | } |
Hendrikvg | 16:40183eeadb6d | 117 | } |
Hendrikvg | 16:40183eeadb6d | 118 | |
Hendrikvg | 16:40183eeadb6d | 119 | void WhileGreen() |
Hendrikvg | 16:40183eeadb6d | 120 | { |
Hendrikvg | 16:40183eeadb6d | 121 | PulseWidthModulation(); |
Hendrikvg | 16:40183eeadb6d | 122 | if (command == 'r') { |
Hendrikvg | 16:40183eeadb6d | 123 | G.stop(); |
Hendrikvg | 16:40183eeadb6d | 124 | pc.printf("The LED has been green for %f seconds!\n\r", G.read()); |
Hendrikvg | 16:40183eeadb6d | 125 | CurrentState= red; |
Hendrikvg | 16:40183eeadb6d | 126 | StateChanged= true; |
Hendrikvg | 16:40183eeadb6d | 127 | } |
Hendrikvg | 16:40183eeadb6d | 128 | if (command == 'b') { |
Hendrikvg | 16:40183eeadb6d | 129 | G.stop(); |
Hendrikvg | 16:40183eeadb6d | 130 | pc.printf("The LED has been green for %f seconds!\n\r", G.read()); |
Hendrikvg | 16:40183eeadb6d | 131 | CurrentState= blue; |
Hendrikvg | 16:40183eeadb6d | 132 | StateChanged= true; |
Hendrikvg | 16:40183eeadb6d | 133 | } |
Hendrikvg | 16:40183eeadb6d | 134 | } |
Hendrikvg | 16:40183eeadb6d | 135 | |
Hendrikvg | 16:40183eeadb6d | 136 | void WhileBlue() |
Hendrikvg | 16:40183eeadb6d | 137 | { |
Hendrikvg | 16:40183eeadb6d | 138 | PulseWidthModulation(); |
Hendrikvg | 16:40183eeadb6d | 139 | if (command == 'r') { |
Hendrikvg | 16:40183eeadb6d | 140 | B.stop(); |
Hendrikvg | 16:40183eeadb6d | 141 | pc.printf("The LED has been blue for %f seconds!\n\r", B.read()); |
Hendrikvg | 16:40183eeadb6d | 142 | CurrentState= red; |
Hendrikvg | 16:40183eeadb6d | 143 | StateChanged= true; |
Hendrikvg | 16:40183eeadb6d | 144 | } |
Hendrikvg | 16:40183eeadb6d | 145 | if (command == 'g') { |
Hendrikvg | 16:40183eeadb6d | 146 | B.stop(); |
Hendrikvg | 16:40183eeadb6d | 147 | pc.printf("The LED has been blue for %f seconds!\n\r", B.read()); |
Hendrikvg | 16:40183eeadb6d | 148 | CurrentState= green; |
Hendrikvg | 16:40183eeadb6d | 149 | StateChanged= true; |
Hendrikvg | 16:40183eeadb6d | 150 | } |
Hendrikvg | 16:40183eeadb6d | 151 | } |
Hendrikvg | 16:40183eeadb6d | 152 | |
Hendrikvg | 17:cacf9e75eda7 | 153 | void ReadEncoderAndWriteScope() |
Hendrikvg | 17:cacf9e75eda7 | 154 | { |
Hendrikvg | 17:cacf9e75eda7 | 155 | degrees = ((360/64)*encoder.getPulses())/131.25; // 360/64 voor de 64 CPR Encoder, 131.25 omdat de gear ratio 131.25:1 is. Hiermee is 1 omwenteling 360. |
Hendrikvg | 17:cacf9e75eda7 | 156 | x = degrees; |
Hendrikvg | 17:cacf9e75eda7 | 157 | scope.set(0,x); |
Hendrikvg | 17:cacf9e75eda7 | 158 | y = (x_prev + x)/2.0; |
Hendrikvg | 17:cacf9e75eda7 | 159 | scope.set(1,y); |
Hendrikvg | 17:cacf9e75eda7 | 160 | x_prev=x; |
Hendrikvg | 17:cacf9e75eda7 | 161 | scope.send(); |
Hendrikvg | 17:cacf9e75eda7 | 162 | } |
Hendrikvg | 17:cacf9e75eda7 | 163 | |
Hendrikvg | 16:40183eeadb6d | 164 | void StateMachine(void) |
Hendrikvg | 16:40183eeadb6d | 165 | { |
Hendrikvg | 16:40183eeadb6d | 166 | switch(CurrentState) { |
Hendrikvg | 16:40183eeadb6d | 167 | case red: |
Hendrikvg | 16:40183eeadb6d | 168 | if (StateChanged) { |
Hendrikvg | 16:40183eeadb6d | 169 | pc.printf("Initiating turning LED red\n\r"); |
Hendrikvg | 16:40183eeadb6d | 170 | StateChanged= false; |
Hendrikvg | 16:40183eeadb6d | 171 | TurnLedRed(); |
Hendrikvg | 16:40183eeadb6d | 172 | R.start(); |
Hendrikvg | 16:40183eeadb6d | 173 | direction = 0; |
Hendrikvg | 16:40183eeadb6d | 174 | pc.printf("LED is now red!\n\r"); |
Hendrikvg | 16:40183eeadb6d | 175 | } |
Hendrikvg | 16:40183eeadb6d | 176 | WhileRed(); |
Hendrikvg | 16:40183eeadb6d | 177 | break; |
Hendrikvg | 16:40183eeadb6d | 178 | case green: |
Hendrikvg | 16:40183eeadb6d | 179 | if (StateChanged) { |
Hendrikvg | 16:40183eeadb6d | 180 | pc.printf("Initiating turning LED green\n\r"); |
Hendrikvg | 16:40183eeadb6d | 181 | StateChanged= false; |
Hendrikvg | 16:40183eeadb6d | 182 | TurnLedGreen(); |
Hendrikvg | 16:40183eeadb6d | 183 | G.start(); |
Hendrikvg | 16:40183eeadb6d | 184 | speed = 0; |
Hendrikvg | 16:40183eeadb6d | 185 | pc.printf("LED is now green!\n\r"); |
Hendrikvg | 16:40183eeadb6d | 186 | } |
Hendrikvg | 16:40183eeadb6d | 187 | WhileGreen(); |
Hendrikvg | 16:40183eeadb6d | 188 | break; |
Hendrikvg | 16:40183eeadb6d | 189 | case blue: |
Hendrikvg | 16:40183eeadb6d | 190 | if (StateChanged) { |
Hendrikvg | 16:40183eeadb6d | 191 | pc.printf("Initiating turning LED blue\n\r"); |
Hendrikvg | 16:40183eeadb6d | 192 | StateChanged= false; |
Hendrikvg | 16:40183eeadb6d | 193 | TurnLedBlue(); |
Hendrikvg | 16:40183eeadb6d | 194 | B.start(); |
Hendrikvg | 16:40183eeadb6d | 195 | speed = 255; |
Hendrikvg | 16:40183eeadb6d | 196 | pc.printf("LED is now blue!\n\r"); |
Hendrikvg | 16:40183eeadb6d | 197 | } |
Hendrikvg | 16:40183eeadb6d | 198 | WhileBlue(); |
Hendrikvg | 16:40183eeadb6d | 199 | break; |
Hendrikvg | 16:40183eeadb6d | 200 | default: |
Hendrikvg | 16:40183eeadb6d | 201 | pc.printf("Unknown or unimplemented state reached!\n\r"); |
Hendrikvg | 16:40183eeadb6d | 202 | } |
Hendrikvg | 16:40183eeadb6d | 203 | } |
Hendrikvg | 16:40183eeadb6d | 204 | |
Hendrikvg | 15:80b3ac2b8448 | 205 | // main |
Hendrikvg | 15:80b3ac2b8448 | 206 | |
Hendrikvg | 15:80b3ac2b8448 | 207 | int main() |
Hendrikvg | 15:80b3ac2b8448 | 208 | { |
RobertoO | 0:67c50348f842 | 209 | pc.baud(115200); |
Hendrikvg | 17:cacf9e75eda7 | 210 | pc.printf("Hello World!\n\r"); |
Hendrikvg | 17:cacf9e75eda7 | 211 | RW_scope.attach(&ReadEncoderAndWriteScope, 0.1); |
Hendrikvg | 16:40183eeadb6d | 212 | ReduceEmission.attach(EnergySaving,20); |
Hendrikvg | 9:12b9865e7373 | 213 | BUT1.fall(plus); |
Hendrikvg | 9:12b9865e7373 | 214 | BUT2.fall(min); |
Hendrikvg | 15:80b3ac2b8448 | 215 | while(true) { |
Hendrikvg | 15:80b3ac2b8448 | 216 | CheckCommandFromTerminal(); |
Hendrikvg | 15:80b3ac2b8448 | 217 | StateMachine(); |
Hendrikvg | 15:80b3ac2b8448 | 218 | lichtje.write(ain.read()); // duty cycle |
Hendrikvg | 9:12b9865e7373 | 219 | } |
Hendrikvg | 2:d9b0ebf3fcca | 220 | } |