Vivien van Veldhuizen / Mbed 2 deprecated Signa-bot

Signa-bot code for project BioRobotics, at University of Twente.

Dependencies:   mbed QEI MODSERIAL FastPWM ttmath Math

Motor_tryout.cpp@13:18dd7a15603f, 2019-10-07 (annotated)

Committer:
Feike
Date:
Mon Oct 07 12:40:19 2019 +0000
Revision:
13:18dd7a15603f
Parent:
12:2382468d36a4
Child:
14:b813ddfbcd71
Een motor, meest up to date

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Feike 4:bd21569250c7 1 #include "mbed.h"
Feike 8:017b813c72bb 2 #include "MODSERIAL.h"
Feike 12:2382468d36a4 3 #include "QEI.h"
Feike 4:bd21569250c7 4
Feike 12:2382468d36a4 5 // ALLE INPUT EN OUTPUT SIGNALEN
Feike 8:017b813c72bb 6 DigitalOut motor1_pwm(PTC2); // aansturen motor 1, via poort PTC2
Feike 12:2382468d36a4 7 DigitalOut motor1_dir(PTC3); // richting motor 1
Feike 12:2382468d36a4 8 DigitalOut motor2_pwm(PTA2); // aansturen motor 2, via poort PTA2
Feike 12:2382468d36a4 9 DigitalOut motor2_dir(PTB23); // richting motor 2
Feike 8:017b813c72bb 10 DigitalIn motor1_1(PTD1); // data vanuit motor 1
Feike 8:017b813c72bb 11 DigitalIn motor1_2(PTD3); // data vanuit motor 1
Feike 8:017b813c72bb 12 AnalogIn input(PTB3); // input van ECG
Feike 8:017b813c72bb 13 MODSERIAL pc(USBTX, USBRX);
Feike 12:2382468d36a4 14 QEI Encoder(D12,D13,NC,64,QEI::X4_ENCODING);
Feike 7:e119b12e5e7f 15
Feike 13:18dd7a15603f 16 // Global variables
Feike 13:18dd7a15603f 17 int quit;
Feike 13:18dd7a15603f 18 int counts = 0;
Feike 13:18dd7a15603f 19 int limit_pos = 8400;
Feike 13:18dd7a15603f 20
Feike 13:18dd7a15603f 21
Feike 12:2382468d36a4 22 // DE TICKERS, deze ticker
Feike 12:2382468d36a4 23 Ticker pulse;
Feike 12:2382468d36a4 24 void pulseget()
Feike 13:18dd7a15603f 25 {
Feike 12:2382468d36a4 26 counts = Encoder.getPulses();
Feike 13:18dd7a15603f 27 if(counts > limit_pos)
Feike 13:18dd7a15603f 28 {
Feike 13:18dd7a15603f 29 quit = 1;
Feike 13:18dd7a15603f 30 }
Feike 12:2382468d36a4 31 }
Feike 12:2382468d36a4 32
Feike 13:18dd7a15603f 33 Ticker signal;
Feike 13:18dd7a15603f 34 void get_signal()
Feike 13:18dd7a15603f 35 {
Feike 13:18dd7a15603f 36 int signal = 0;
Feike 13:18dd7a15603f 37 }
Feike 13:18dd7a15603f 38
Feike 13:18dd7a15603f 39
Feike 12:2382468d36a4 40 // DE MAIN FUNCTIE
Feike 4:bd21569250c7 41 int main(void)
Feike 13:18dd7a15603f 42 {
Feike 8:017b813c72bb 43 pc.baud(115200);
Feike 13:18dd7a15603f 44 pc.printf("In main\r\n");
Feike 13:18dd7a15603f 45
Feike 13:18dd7a15603f 46 while(true)
Feike 13:18dd7a15603f 47 {
Feike 13:18dd7a15603f 48 quit = 0;
Feike 13:18dd7a15603f 49 counts = 0;
Feike 13:18dd7a15603f 50 char cc = pc.getc();
Feike 13:18dd7a15603f 51 while(cc == 'g')
Feike 8:017b813c72bb 52 {
Feike 13:18dd7a15603f 53 int frequency_pwm = 10000; //10 kHz PWM
Feike 13:18dd7a15603f 54 PwmOut motor1_pwm(PTC2);
Feike 13:18dd7a15603f 55 PwmOut motor2_pwm(PTA2);
Feike 13:18dd7a15603f 56 motor1_pwm.period(1.0/(double)frequency_pwm); // T=1/f
Feike 13:18dd7a15603f 57 motor1_dir.write(0); // positief
Feike 13:18dd7a15603f 58 motor1_pwm.write(0.56); // write Duty Cycle
Feike 13:18dd7a15603f 59 pulse.attach(pulseget,1.0/10000);
Feike 13:18dd7a15603f 60 if(quit == 1)
Feike 13:18dd7a15603f 61 {
Feike 13:18dd7a15603f 62 pulse.detach();
Feike 13:18dd7a15603f 63 motor1_pwm.write(0);
Feike 13:18dd7a15603f 64 pc.printf("The motor is off with counts is %i\n\r",counts);
Feike 13:18dd7a15603f 65 break;
Feike 8:017b813c72bb 66 }
Feike 13:18dd7a15603f 67 wait(1.0/1000);
Feike 8:017b813c72bb 68 }
Feike 13:18dd7a15603f 69 cc = pc.getc();
Feike 13:18dd7a15603f 70 counts = 0;
Feike 13:18dd7a15603f 71 pc.printf("The motor is in final state and counts is %i\n\r",counts);
Feike 8:017b813c72bb 72 }
Feike 12:2382468d36a4 73 }