Nikola Cvetković
19E042PIM Servomotor SG90
Revision 0:35383655148b, committed 2022-01-04
- Comitter:
- tzwell
- Date:
- Tue Jan 04 14:34:40 2022 +0000
- Commit message:
- First publish, first commit
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Tue Jan 04 14:34:40 2022 +0000
@@ -0,0 +1,107 @@
+/*
+ * An example of motor control, using step SG90 and NUCLEO-L476RG.
+ *
+ * Katedra za Elektroniku i digitalne sisteme
+ * Elektrotehnicki fakultet
+ * Beograd
+ *
+ * Decembar 2021.
+ *
+ */
+
+/*
+ * Biblioteke za uvoz:
+ */
+#include "mbed.h"
+#include "mb_pins.h"
+
+/*
+ * Definisanje makroa:
+ */
+#define DEBOUNCE_DELAY_MS 50
+#define MOTOR_PERIOD_MS 20
+#define MOTOR_PULSE_INIT_MS 1
+#define MOTOR_PULSE_INC_US 50 // 4.5 degrees increment
+#define MAX_PULSE_US 3000
+#define MIN_PULSE_US 500
+
+
+/*
+ * Globalne promenljive:
+ */
+PwmOut motor_out(PB_0); // orange -- A3 pin
+InterruptIn clkwise (MB_SW1);
+InterruptIn cntclkwise (MB_SW2);
+
+int clkwise_dir = 0;
+int cntclkwise_dir = 0;
+
+/*
+ * Deklaracija funkcija:
+ */
+void ISR_clkwise(void);
+void ISR_cntclkwise(void);
+
+/*
+ * Glavna funkcija:
+ */
+
+int main()
+{
+ clkwise.fall(&ISR_clkwise);
+ cntclkwise.fall(&ISR_cntclkwise);
+
+ motor_out.period_ms(MOTOR_PERIOD_MS);
+ motor_out.pulsewidth_ms(MOTOR_PULSE_INIT_MS);
+
+ int pulsewidth = 0;
+ while(1)
+ {
+ if (clkwise_dir)
+ {
+ pulsewidth = motor_out.read()*MOTOR_PERIOD_MS*1000;
+ printf("Pulsewidth when SW1 pressed: %d us\r\n", pulsewidth);
+ if (pulsewidth < MAX_PULSE_US - MOTOR_PULSE_INC_US)
+ {
+ pulsewidth = pulsewidth + MOTOR_PULSE_INC_US;
+ printf("Pulsewidth after SW1 increment: %d us\r\n", pulsewidth);
+ motor_out.pulsewidth_us(pulsewidth);
+ }
+ clkwise_dir = 0;
+ //wait_ms(DEBOUNCE_DELAY_MS);
+ }
+ else if(cntclkwise_dir)
+ {
+ pulsewidth = motor_out.read()*MOTOR_PERIOD_MS*1000;
+ printf("Pulsewidth when SW2 pressed: %d us\r\n", pulsewidth);
+ if (pulsewidth > MIN_PULSE_US + MOTOR_PULSE_INC_US)
+ {
+ pulsewidth = pulsewidth - MOTOR_PULSE_INC_US;
+ printf("Pulsewidth after SW1 increment: %d us\r\n", pulsewidth);
+ motor_out.pulsewidth_us(pulsewidth);
+ }
+ cntclkwise_dir = 0;
+ //wait_ms(DEBOUNCE_DELAY_MS);
+ }
+ }
+}
+
+
+/*
+ * Definicija funkcija:
+ */
+void ISR_clkwise(void){
+ if(!clkwise.read())
+ {
+ wait_ms(DEBOUNCE_DELAY_MS);
+ if (!clkwise.read()) clkwise_dir = 1;
+ }
+}
+
+void ISR_cntclkwise(void){
+ if(!cntclkwise.read())
+ {
+ wait_ms(DEBOUNCE_DELAY_MS);
+ if (!cntclkwise.read()) cntclkwise_dir = 1;
+ }
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mb_pins.h Tue Jan 04 14:34:40 2022 +0000 @@ -0,0 +1,59 @@ +/* + * This file contains all the pin names neccessary + * for easy interaction with the EDS-MB for NUCLEOL476RG. + * + * University of Belgrade - School of Electrical Engineering + * Department of Electronics + * Bulevar Kralja Aleksandra 73, 11120 Belgrade, Serbia + * + * November 2021. + * + */ + +// LEDs, 560R in series, cathode to GND; left - red LED1; right - blue LED2: +#define MB_LED1 PA_11 +#define MB_LED2 PB_15 +// Switches, DPST, pulled up with 10k resistor; left SW1, right SW2: +// SW_EXT connector, from left to right: +#define MB_SW1 PC_9 +#define MB_SW2 PC_8 +// Potentiometers; left POT1, right POT2: +#define MB_POT1 PA_0 +#define MB_POT2 PA_1 +// Common anode, two digit seven-segment display. All signals active at '0': +#define MB_SEL1 PB_6 +#define MB_SEL2 PC_7 +#define MB_A PA_10 +#define MB_B PA_9 +#define MB_C PA_8 +#define MB_D PB_10 +#define MB_E PB_5 +#define MB_F PB_4 +#define MB_G PB_3 +// Piezoelectric buzzer, 10k in parallel; Active at '0': +#define MB_BUZZ PA_11 +// SDD1306-based OLED display; Uses I2C_2 to communicate with NUCLEO: +#define MB_OLED_SDA PB_14 +#define MB_OLED_SCL PB_13 +// ESP-WROOM-02 WiFi microcontroller; Uses UART_3 to communicate with NUCLEO: +#define MB_ESP_RST PA_12 +#define MB_ESP_TX PC_4 +#define MB_ESP_RX PC_5 +#define MB_ESP_EN RESET +// mikroBUS pinout, upper leftmost pin is no. 1: +#define MB_MIKRO_AN PB_1 +#define MB_MIKRO_RST PB_12 +#define MB_MIKRO_CS PD_2 +#define MB_MIKRO_SCK PC_10 +#define MB_MIKRO_MISO PC_11 +#define MB_MIKRO_MOSI PC_12 +#define MB_MIKRO_SDA PB_14 +#define MB_MIKRO_SCL PB_13 +#define MB_MIKRO_TX PB_11 +#define MB_MIKRO_RX PB_7 +#define MB_MIKRO_INT PB_2 +#define MB_MIKRO_PWM PC_6 +// ANALOG_EXT connector, from left to right: +#define MB_AI1 PC_3 +#define MB_AI2 PC_2 +#define MB_A0 PA_4 \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Tue Jan 04 14:34:40 2022 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400 \ No newline at end of file