File content as of revision 26:432d3519ba86:

#include "mbed.h" 
#include "MODSERIAL.h"
#include "QEI.h"
#include "Math.h"
#include "ttmath.h"

MODSERIAL pc(USBTX, USBRX);
//Serial term (USBTX, USBRX);
PwmOut motor1_pwm(PTC2);
DigitalOut motor1_dir(PTC3);
PwmOut motor2_pwm(PTA2);
DigitalOut motor2_dir(PTB23);
PwmOut motor3_pwm(PTC4);
DigitalOut motor3_dir(PTC12);

QEI Encoder1(D12,D13,NC,64,QEI::X4_ENCODING);
QEI Encoder2(D10,D11,NC,64,QEI::X4_ENCODING);
QEI Encoder3(D2,D3,NC,64,QEI::X4_ENCODING);

float steps1 = 0;
float steps2 = 0;
float steps3 = 0;
int check;
int quit;
int limit_pos = 8400;
float steps;
int g = 0;

bool check1;
bool check2;
bool check3;
int counts1 = 0;
int counts2 = 0;
int counts3 = 0;
int count1old = 0;
int countdiff = 0;
int counting1 = 0;

const float le = 15.0;
const float f = 37.5;
const float re = 174.0;
const float rf = 50.0;
const float pi = 3.14159265358979323846;
const float cospi = -0.5;
const float sinpi = 0.8660254;
float y2;
float y1;
float z1;
float z2;
float rje2;
float rje;
float r2;
float r;

float z0=-172;
float y0=0;
float x0=0;
float x00;
float y00;
float z00;

float theta1;
float theta2;
float theta3;
float oldtheta1=0;
float oldtheta2=0;
float oldtheta3=0;

Ticker pulses1;
void getpulses1()   {
        counts1 = Encoder1.getPulses();
        }
Ticker pulses2;
void getpulses2()   {
        counts2 = Encoder2.getPulses();
        }
Ticker pulses3;
void getpulses3()   {
        counts3 = Encoder3.getPulses();
        }
      
        
float delta_calcangleyz(float x00, float y00, float z00)   {
    float y2 = y00 + le;
    float y1 = f;
    float z1 = 0.0;
    float z2 = z00;
    float rje2 = re*re - x00*x00;
    float rje = sqrt(rje2);
    float r2 = (y1-y2)*(y1-y2) + (z1-z00)*(z1-z00);
    float r = sqrt(r2);
     
        if ((r+rje<rf) || (r + rf <rje) || (rf+rje<r))  {
            int check = 1;
            pc.printf("\n\rPunt bestaat niet");
            }
        else    {
                float alpha = acos((r2 + rf*rf -rje2)/(2*rf*r));
                float beta = atan((z1-z2)/(y1-y2));
                    if(beta<0)  {
                    beta = beta + pi;
                    }
                float theta1 = (beta - alpha)*180.0/pi;
                return theta1;
}
}

float delta_calcinverse(float x00, float y00, float z00) {
    theta1 = theta2 = theta3 = 0;
    x00=x0;
    y00=y0;
    z00=z0;
    theta1 = delta_calcangleyz(x00, y00, z00);
       
        if (check == 0)     {
            x00=x0*cospi+y0*sinpi;
            y00=y0*cospi-x0*sinpi;
            z00=z0;
            theta2 = delta_calcangleyz(x00, y00, z00);
            x00=x0*cospi-y0*sinpi;
            y00=y0*cospi+y0*sinpi;
            z00=z0;
            theta3 = delta_calcangleyz(x00, y00, z00);
            }
            
    return theta1, theta2, theta3;
}
            
            

float anglestep(float angle)    {
    float steps;
    steps = angle / 360 * 8400;
    return steps;
    }


float movefunction() {
    
    theta1 = delta_calcinverse(x00,y00,z00);
    pc.printf("\n\r de hoeken zijn(%f, %f, %f)", theta1, theta2, theta3);       
    pc.printf("\n\r coordinaten(%f, %f, %f)", x0, y0, z0);       

    theta1 = theta1 - oldtheta1;
    theta2 = theta2 - oldtheta2;
    theta3 = theta3 - oldtheta3;    
                
    steps1 = anglestep(theta1);
    pc.printf("\n\rsteps1.1 %f", steps1);
    steps2 = anglestep(theta2);
    steps3 = anglestep(theta3);
    
    // Set the direction of the motors.   
    if (theta1 < 0) {
        motor1_dir.write(1); 
    }
    else {
        motor1_dir.write(0);
    }
    
    if (theta2 < 0) {
        motor2_dir.write(0); 
    }
    else {
        motor2_dir.write(1);
    }
    
    if (theta3 < 0) {
        motor3_dir.write(0); 
    }
    else {
        motor3_dir.write(1);
    }
    
    int frequency_pwm = 10000; //10 kHz PWM
    motor1_pwm.period(1.0/(double)frequency_pwm); // T=1/f
    motor1_pwm.write(0.7); // write Duty Cycle  
    
    motor2_pwm.period(1.0/(double)frequency_pwm); // T=1/f
    motor2_pwm.write(0.7); // write Duty Cycle  
    
    motor3_pwm.period(1.0/(double)frequency_pwm); // T=1/f
    motor3_pwm.write(0.7); // write Duty Cycle  
    
    check1 = true;
    check2 = true;
    check3 = true; 
    

 //   for (int i=0; i<100; i++)  {
 //       pc.printf("\n\rcounts1 %i", counts1);
 //       wait(0.001);
 //       }
    
         pc.printf("\n\rsteps3.1 %f", steps3);
        pc.printf("\n\rcounts3.1 %i", counts3);

           
    while (check1 || check2 || check3)    {
        pc.printf("\n\rsteps1 %f, steps2 %f, steps3 %f",steps1, steps2, steps3);
        pc.printf("\n\rcounts1 %i, counts2 %i, counts3 %i", counts1, counts2, counts3);

    if (steps1 <= 0)  {
        if(counts1<=steps1) {
            pc.printf("\n 1 is false");
            motor1_pwm.write(0);
            check1=false;
            }
        if (counts2<=steps2)   {
            pc.printf("\n 2 is false");
            motor2_pwm.write(0);
            check2=false;
            }
        if (counts3>=abs(steps3))  {
            pc.printf("\n 3 is false");
            motor3_pwm.write(0);
            check3=false;
        pc.printf("\n\rsteps3 %f", steps3);
        pc.printf("\n\rcounts3 %i", counts3);
            }
        }
        if (steps1 >= 0)  {
        if(counts1>=steps1) {
            pc.printf("\n 1 is false");
            motor1_pwm.write(0);
            check1=false;
            }
        if (counts2>=steps2)   {
            pc.printf("\n 2 is false");
            motor2_pwm.write(0);
            check2=false;
            }
        if (counts3<=-steps3)  {
            pc.printf("\n 3 is false");
            motor3_pwm.write(0);
            check3=false;
            }
        }

    }

            wait(1.0);
        pc.printf("\n\rcounts1 %i, counts2 %i, counts3 %i", counts1, counts2, counts3);
}

int main(void)  {    
    pulses1.attach(&getpulses1, 1.0/1000);
    pulses2.attach(&getpulses2, 1.0/1000);
    pulses3.attach(&getpulses3, 1.0/1000);

    pc.baud(115200);
        
    char cc = pc.getc();

    while(true)     {
    
    Encoder1.reset();
    Encoder2.reset();
    Encoder3.reset();
    counts1 = Encoder1.getPulses();
    counts2 = Encoder2.getPulses();
    counts3 = Encoder3.getPulses();
    

    delta_calcinverse(x0,y0,z0);

    oldtheta1 = theta1;
    oldtheta2 = theta2;
    oldtheta3 = theta3;             
char cc = pc.getc();

if (cc=='d') {
    x0=x0+5.0f;
    if (x0>=-75 && x0<=75)   {
        movefunction ();
        }
            else    {
                x0=x0-5.0f;
                }
}

if (cc=='a') {
x0=x0-5.0f;
if (x0>=-75 && x0<=75)   {
    movefunction ();
    }
    else    {
            x0=x0+5.0f;
            }
}

if (cc=='w') {
y0=y0+5.0f;
if (y0>=-75 && y0<=75)   {
    movefunction ();
    }
    else    {
            y0=y0-5.0f;
            }
}

if (cc=='s') {
y0=y0-5.0f;
if (y0>=-75 && y0<=75)   {
    movefunction ();
    }
    else    {
            y0=y0+5.0f;
            }
}

if (cc=='u') {
z0=z0+5.0f;
if (z0>=-210 && z0<=-130)   {
    movefunction ();
    }
    else    {
            z0=z0-5.0f;
            }
}

if (cc=='j') {
z0=z0-5.0f;
if (z0>=-210 && z0<=-130)   {
    movefunction ();
    }
    else    {
            z0=z0+5.0f;
            }
}                                       
}
}