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