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Dependencies: mbed QEI HIDScope biquadFilter MODSERIAL FastPWM
main.cpp@19:5ac8b7af77a3, 2019-10-04 (annotated)
- Committer:
- Hendrikvg
- Date:
- Fri Oct 04 09:37:33 2019 +0000
- Revision:
- 19:5ac8b7af77a3
- Parent:
- 18:50c04dd523ea
- Child:
- 20:ac1b4ffa3323
Crappy 3 state machine, maar dan met kloppende PWM namen
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 | 18:50c04dd523ea | 7 | // ENC1A --> D13 |
Hendrikvg | 18:50c04dd523ea | 8 | // ENC1B --> D12 |
Hendrikvg | 18:50c04dd523ea | 9 | // POT1 --> A0 |
Hendrikvg | 18:50c04dd523ea | 10 | // LED1 --> D3 |
Hendrikvg | 18:50c04dd523ea | 11 | // BUT1 --> D1 |
Hendrikvg | 18:50c04dd523ea | 12 | // BUT2 --> D0 |
Hendrikvg | 18:50c04dd523ea | 13 | |
Hendrikvg | 15:80b3ac2b8448 | 14 | MODSERIAL pc(USBTX, USBRX); |
Hendrikvg | 15:80b3ac2b8448 | 15 | DigitalOut ledr(LED_RED); |
Hendrikvg | 15:80b3ac2b8448 | 16 | DigitalOut ledg(LED_GREEN); |
Hendrikvg | 15:80b3ac2b8448 | 17 | DigitalOut ledb(LED_BLUE); |
Hendrikvg | 16:40183eeadb6d | 18 | Ticker ReduceEmission; |
Hendrikvg | 15:80b3ac2b8448 | 19 | Timer R; |
Hendrikvg | 15:80b3ac2b8448 | 20 | Timer G; |
Hendrikvg | 15:80b3ac2b8448 | 21 | Timer B; |
Hendrikvg | 15:80b3ac2b8448 | 22 | |
Hendrikvg | 14:20f11bb58244 | 23 | FastPWM lichtje(D3); |
Hendrikvg | 9:12b9865e7373 | 24 | AnalogIn ain(A0); |
Hendrikvg | 19:5ac8b7af77a3 | 25 | DigitalOut PWM_motor_1(D6); |
Hendrikvg | 19:5ac8b7af77a3 | 26 | DigitalOut direction_motor_1(D7); |
RobertoO | 0:67c50348f842 | 27 | |
Hendrikvg | 17:cacf9e75eda7 | 28 | HIDScope scope(2); |
Hendrikvg | 17:cacf9e75eda7 | 29 | QEI encoder(D12,D13,NC,64,QEI::X4_ENCODING); |
Hendrikvg | 17:cacf9e75eda7 | 30 | Ticker RW_scope; |
Hendrikvg | 17:cacf9e75eda7 | 31 | |
Hendrikvg | 15:80b3ac2b8448 | 32 | // variables |
Hendrikvg | 15:80b3ac2b8448 | 33 | |
Hendrikvg | 15:80b3ac2b8448 | 34 | volatile char command = 'r'; |
Hendrikvg | 15:80b3ac2b8448 | 35 | enum states {red, green, blue}; |
Hendrikvg | 15:80b3ac2b8448 | 36 | states CurrentState = red; |
Hendrikvg | 15:80b3ac2b8448 | 37 | bool StateChanged = true; |
Hendrikvg | 15:80b3ac2b8448 | 38 | |
Hendrikvg | 16:40183eeadb6d | 39 | volatile int on_time_ms; // The time the LED should be on, in microseconds |
Hendrikvg | 16:40183eeadb6d | 40 | volatile int off_time_ms; |
Hendrikvg | 15:80b3ac2b8448 | 41 | |
Hendrikvg | 17:cacf9e75eda7 | 42 | int degrees; |
Hendrikvg | 17:cacf9e75eda7 | 43 | volatile double x; |
Hendrikvg | 17:cacf9e75eda7 | 44 | volatile double x_prev=0; |
Hendrikvg | 17:cacf9e75eda7 | 45 | volatile double y; |
Hendrikvg | 17:cacf9e75eda7 | 46 | |
Hendrikvg | 15:80b3ac2b8448 | 47 | // functions |
Hendrikvg | 15:80b3ac2b8448 | 48 | |
Hendrikvg | 19:5ac8b7af77a3 | 49 | void TurnLedRed(){ |
Hendrikvg | 16:40183eeadb6d | 50 | ledr = 0; |
Hendrikvg | 16:40183eeadb6d | 51 | ledg = 1; |
Hendrikvg | 19:5ac8b7af77a3 | 52 | ledb = 1;} |
Hendrikvg | 16:40183eeadb6d | 53 | |
Hendrikvg | 19:5ac8b7af77a3 | 54 | void TurnLedGreen(){ |
Hendrikvg | 16:40183eeadb6d | 55 | ledr = 1; |
Hendrikvg | 16:40183eeadb6d | 56 | ledg = 0; |
Hendrikvg | 19:5ac8b7af77a3 | 57 | ledb = 1;} |
Hendrikvg | 16:40183eeadb6d | 58 | |
Hendrikvg | 19:5ac8b7af77a3 | 59 | void TurnLedBlue(){ |
Hendrikvg | 16:40183eeadb6d | 60 | ledr = 1; |
Hendrikvg | 16:40183eeadb6d | 61 | ledg = 1; |
Hendrikvg | 19:5ac8b7af77a3 | 62 | ledb = 0;} |
Hendrikvg | 16:40183eeadb6d | 63 | |
Hendrikvg | 16:40183eeadb6d | 64 | void PulseWidthModulation() // Bepaalt de duty cycle gebaseerd op de potentiometer en zet de motor dan op die snelheid mbh PWM |
Hendrikvg | 19:5ac8b7af77a3 | 65 | { on_time_ms = (int) (ain.read()*(1/1e2)*1e3); |
Hendrikvg | 19:5ac8b7af77a3 | 66 | off_time_ms = (int) ((1-ain.read())*(1/1e2)*1e3); |
Hendrikvg | 19:5ac8b7af77a3 | 67 | PWM_motor_1 = 1; |
Hendrikvg | 16:40183eeadb6d | 68 | wait_ms(on_time_ms); |
Hendrikvg | 19:5ac8b7af77a3 | 69 | PWM_motor_1 = 0; |
Hendrikvg | 19:5ac8b7af77a3 | 70 | wait_ms(off_time_ms);} |
Hendrikvg | 16:40183eeadb6d | 71 | |
Hendrikvg | 16:40183eeadb6d | 72 | void EnergySaving() // Functie voor de "ReduceEmissions" ticker, zet de motor uit en LED op rood |
Hendrikvg | 19:5ac8b7af77a3 | 73 | { command = 'r';} |
Hendrikvg | 16:40183eeadb6d | 74 | |
Hendrikvg | 16:40183eeadb6d | 75 | void CheckCommandFromTerminal(void) // Functie voor de in de main loop |
Hendrikvg | 19:5ac8b7af77a3 | 76 | { command = pc.getcNb();} |
Hendrikvg | 16:40183eeadb6d | 77 | |
Hendrikvg | 16:40183eeadb6d | 78 | void WhileRed() |
Hendrikvg | 19:5ac8b7af77a3 | 79 | { if (command == 'g') { |
Hendrikvg | 16:40183eeadb6d | 80 | R.stop(); |
Hendrikvg | 16:40183eeadb6d | 81 | pc.printf("The LED has been red for %f seconds!\n\r", R.read()); |
Hendrikvg | 16:40183eeadb6d | 82 | CurrentState= green; |
Hendrikvg | 19:5ac8b7af77a3 | 83 | StateChanged= true; } |
Hendrikvg | 16:40183eeadb6d | 84 | if (command == 'b') { |
Hendrikvg | 16:40183eeadb6d | 85 | R.stop(); |
Hendrikvg | 16:40183eeadb6d | 86 | pc.printf("The LED has been red for %f seconds!\n\r", R.read()); |
Hendrikvg | 16:40183eeadb6d | 87 | CurrentState= blue; |
Hendrikvg | 19:5ac8b7af77a3 | 88 | StateChanged= true; }} |
Hendrikvg | 16:40183eeadb6d | 89 | |
Hendrikvg | 16:40183eeadb6d | 90 | void WhileGreen() |
Hendrikvg | 19:5ac8b7af77a3 | 91 | { PulseWidthModulation(); |
Hendrikvg | 16:40183eeadb6d | 92 | if (command == 'r') { |
Hendrikvg | 16:40183eeadb6d | 93 | G.stop(); |
Hendrikvg | 16:40183eeadb6d | 94 | pc.printf("The LED has been green for %f seconds!\n\r", G.read()); |
Hendrikvg | 16:40183eeadb6d | 95 | CurrentState= red; |
Hendrikvg | 19:5ac8b7af77a3 | 96 | StateChanged= true; } |
Hendrikvg | 16:40183eeadb6d | 97 | if (command == 'b') { |
Hendrikvg | 16:40183eeadb6d | 98 | G.stop(); |
Hendrikvg | 16:40183eeadb6d | 99 | pc.printf("The LED has been green for %f seconds!\n\r", G.read()); |
Hendrikvg | 16:40183eeadb6d | 100 | CurrentState= blue; |
Hendrikvg | 19:5ac8b7af77a3 | 101 | StateChanged= true; }} |
Hendrikvg | 16:40183eeadb6d | 102 | |
Hendrikvg | 16:40183eeadb6d | 103 | void WhileBlue() |
Hendrikvg | 19:5ac8b7af77a3 | 104 | { PulseWidthModulation(); |
Hendrikvg | 16:40183eeadb6d | 105 | if (command == 'r') { |
Hendrikvg | 16:40183eeadb6d | 106 | B.stop(); |
Hendrikvg | 16:40183eeadb6d | 107 | pc.printf("The LED has been blue for %f seconds!\n\r", B.read()); |
Hendrikvg | 16:40183eeadb6d | 108 | CurrentState= red; |
Hendrikvg | 19:5ac8b7af77a3 | 109 | StateChanged= true; } |
Hendrikvg | 16:40183eeadb6d | 110 | if (command == 'g') { |
Hendrikvg | 16:40183eeadb6d | 111 | B.stop(); |
Hendrikvg | 16:40183eeadb6d | 112 | pc.printf("The LED has been blue for %f seconds!\n\r", B.read()); |
Hendrikvg | 16:40183eeadb6d | 113 | CurrentState= green; |
Hendrikvg | 19:5ac8b7af77a3 | 114 | StateChanged= true; }} |
Hendrikvg | 16:40183eeadb6d | 115 | |
Hendrikvg | 19:5ac8b7af77a3 | 116 | void ReadEncoderAndWriteScope(){ |
Hendrikvg | 17:cacf9e75eda7 | 117 | 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 | 118 | x = degrees; |
Hendrikvg | 17:cacf9e75eda7 | 119 | scope.set(0,x); |
Hendrikvg | 17:cacf9e75eda7 | 120 | y = (x_prev + x)/2.0; |
Hendrikvg | 17:cacf9e75eda7 | 121 | scope.set(1,y); |
Hendrikvg | 17:cacf9e75eda7 | 122 | x_prev=x; |
Hendrikvg | 19:5ac8b7af77a3 | 123 | scope.send();} |
Hendrikvg | 17:cacf9e75eda7 | 124 | |
Hendrikvg | 16:40183eeadb6d | 125 | void StateMachine(void) |
Hendrikvg | 16:40183eeadb6d | 126 | { |
Hendrikvg | 16:40183eeadb6d | 127 | switch(CurrentState) { |
Hendrikvg | 16:40183eeadb6d | 128 | case red: |
Hendrikvg | 16:40183eeadb6d | 129 | if (StateChanged) { |
Hendrikvg | 16:40183eeadb6d | 130 | pc.printf("Initiating turning LED red\n\r"); |
Hendrikvg | 16:40183eeadb6d | 131 | StateChanged= false; |
Hendrikvg | 16:40183eeadb6d | 132 | TurnLedRed(); |
Hendrikvg | 16:40183eeadb6d | 133 | R.start(); |
Hendrikvg | 19:5ac8b7af77a3 | 134 | PWM_motor_1 = 0; |
Hendrikvg | 16:40183eeadb6d | 135 | pc.printf("LED is now red!\n\r"); |
Hendrikvg | 16:40183eeadb6d | 136 | } |
Hendrikvg | 16:40183eeadb6d | 137 | WhileRed(); |
Hendrikvg | 16:40183eeadb6d | 138 | break; |
Hendrikvg | 16:40183eeadb6d | 139 | case green: |
Hendrikvg | 16:40183eeadb6d | 140 | if (StateChanged) { |
Hendrikvg | 16:40183eeadb6d | 141 | pc.printf("Initiating turning LED green\n\r"); |
Hendrikvg | 16:40183eeadb6d | 142 | StateChanged= false; |
Hendrikvg | 16:40183eeadb6d | 143 | TurnLedGreen(); |
Hendrikvg | 16:40183eeadb6d | 144 | G.start(); |
Hendrikvg | 19:5ac8b7af77a3 | 145 | direction_motor_1 = 0; |
Hendrikvg | 16:40183eeadb6d | 146 | pc.printf("LED is now green!\n\r"); |
Hendrikvg | 16:40183eeadb6d | 147 | } |
Hendrikvg | 16:40183eeadb6d | 148 | WhileGreen(); |
Hendrikvg | 16:40183eeadb6d | 149 | break; |
Hendrikvg | 16:40183eeadb6d | 150 | case blue: |
Hendrikvg | 16:40183eeadb6d | 151 | if (StateChanged) { |
Hendrikvg | 16:40183eeadb6d | 152 | pc.printf("Initiating turning LED blue\n\r"); |
Hendrikvg | 16:40183eeadb6d | 153 | StateChanged= false; |
Hendrikvg | 16:40183eeadb6d | 154 | TurnLedBlue(); |
Hendrikvg | 16:40183eeadb6d | 155 | B.start(); |
Hendrikvg | 19:5ac8b7af77a3 | 156 | direction_motor_1 = 255; |
Hendrikvg | 16:40183eeadb6d | 157 | pc.printf("LED is now blue!\n\r"); |
Hendrikvg | 16:40183eeadb6d | 158 | } |
Hendrikvg | 16:40183eeadb6d | 159 | WhileBlue(); |
Hendrikvg | 16:40183eeadb6d | 160 | break; |
Hendrikvg | 16:40183eeadb6d | 161 | default: |
Hendrikvg | 16:40183eeadb6d | 162 | pc.printf("Unknown or unimplemented state reached!\n\r"); |
Hendrikvg | 16:40183eeadb6d | 163 | } |
Hendrikvg | 16:40183eeadb6d | 164 | } |
Hendrikvg | 16:40183eeadb6d | 165 | |
Hendrikvg | 15:80b3ac2b8448 | 166 | // main |
Hendrikvg | 15:80b3ac2b8448 | 167 | |
Hendrikvg | 15:80b3ac2b8448 | 168 | int main() |
Hendrikvg | 15:80b3ac2b8448 | 169 | { |
RobertoO | 0:67c50348f842 | 170 | pc.baud(115200); |
Hendrikvg | 17:cacf9e75eda7 | 171 | pc.printf("Hello World!\n\r"); |
Hendrikvg | 17:cacf9e75eda7 | 172 | RW_scope.attach(&ReadEncoderAndWriteScope, 0.1); |
Hendrikvg | 16:40183eeadb6d | 173 | ReduceEmission.attach(EnergySaving,20); |
Hendrikvg | 15:80b3ac2b8448 | 174 | while(true) { |
Hendrikvg | 15:80b3ac2b8448 | 175 | CheckCommandFromTerminal(); |
Hendrikvg | 15:80b3ac2b8448 | 176 | StateMachine(); |
Hendrikvg | 15:80b3ac2b8448 | 177 | lichtje.write(ain.read()); // duty cycle |
Hendrikvg | 9:12b9865e7373 | 178 | } |
Hendrikvg | 2:d9b0ebf3fcca | 179 | } |