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@14:b813ddfbcd71, 2019-10-07 (annotated)

Committer:
Feike
Date:
Mon Oct 07 13:56:24 2019 +0000
Revision:
14:b813ddfbcd71
Parent:
13:18dd7a15603f
Child:
16:2ad161f709f6
ok;

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 14:b813ddfbcd71 10 DigitalOut motor3_pwm(PTA0); // aansturen motor 3, via poort PTA2
Feike 14:b813ddfbcd71 11 DigitalOut motor3_dir(PTC4); // richting motor 3
Feike 8:017b813c72bb 12 DigitalIn motor1_1(PTD1); // data vanuit motor 1
Feike 8:017b813c72bb 13 DigitalIn motor1_2(PTD3); // data vanuit motor 1
Feike 8:017b813c72bb 14 AnalogIn input(PTB3); // input van ECG
Feike 8:017b813c72bb 15 MODSERIAL pc(USBTX, USBRX);
Feike 14:b813ddfbcd71 16 \\QEI Encoder(D12,D13,NC,64,QEI::X4_ENCODING);
Feike 14:b813ddfbcd71 17 \\QEI Encoder(D12,D13,NC,64,QEI::X4_ENCODING);
Feike 14:b813ddfbcd71 18 QEI Encoder(D2,D3,NC,64,QEI::X4_ENCODING);
Feike 7:e119b12e5e7f 19
Feike 13:18dd7a15603f 20 // Global variables
Feike 13:18dd7a15603f 21 int quit;
Feike 13:18dd7a15603f 22 int counts = 0;
Feike 13:18dd7a15603f 23 int limit_pos = 8400;
Feike 13:18dd7a15603f 24
Feike 13:18dd7a15603f 25
Feike 12:2382468d36a4 26 // DE TICKERS, deze ticker
Feike 12:2382468d36a4 27 Ticker pulse;
Feike 12:2382468d36a4 28 void pulseget()
Feike 13:18dd7a15603f 29 {
Feike 12:2382468d36a4 30 counts = Encoder.getPulses();
Feike 13:18dd7a15603f 31 if(counts > limit_pos)
Feike 13:18dd7a15603f 32 {
Feike 13:18dd7a15603f 33 quit = 1;
Feike 13:18dd7a15603f 34 }
Feike 12:2382468d36a4 35 }
Feike 12:2382468d36a4 36
Feike 13:18dd7a15603f 37 Ticker signal;
Feike 13:18dd7a15603f 38 void get_signal()
Feike 13:18dd7a15603f 39 {
Feike 13:18dd7a15603f 40 int signal = 0;
Feike 13:18dd7a15603f 41 }
Feike 13:18dd7a15603f 42
Feike 13:18dd7a15603f 43
Feike 12:2382468d36a4 44 // DE MAIN FUNCTIE
Feike 4:bd21569250c7 45 int main(void)
Feike 13:18dd7a15603f 46 {
Feike 8:017b813c72bb 47 pc.baud(115200);
Feike 13:18dd7a15603f 48 pc.printf("In main\r\n");
Feike 13:18dd7a15603f 49
Feike 13:18dd7a15603f 50 while(true)
Feike 13:18dd7a15603f 51 {
Feike 13:18dd7a15603f 52 quit = 0;
Feike 13:18dd7a15603f 53 counts = 0;
Feike 13:18dd7a15603f 54 char cc = pc.getc();
Feike 13:18dd7a15603f 55 while(cc == 'g')
Feike 8:017b813c72bb 56 {
Feike 13:18dd7a15603f 57 int frequency_pwm = 10000; //10 kHz PWM
Feike 14:b813ddfbcd71 58 PwmOut motor3_pwm(PTC2);
Feike 13:18dd7a15603f 59 PwmOut motor2_pwm(PTA2);
Feike 13:18dd7a15603f 60 motor1_pwm.period(1.0/(double)frequency_pwm); // T=1/f
Feike 13:18dd7a15603f 61 motor1_dir.write(0); // positief
Feike 13:18dd7a15603f 62 motor1_pwm.write(0.56); // write Duty Cycle
Feike 13:18dd7a15603f 63 pulse.attach(pulseget,1.0/10000);
Feike 13:18dd7a15603f 64 if(quit == 1)
Feike 13:18dd7a15603f 65 {
Feike 13:18dd7a15603f 66 pulse.detach();
Feike 13:18dd7a15603f 67 motor1_pwm.write(0);
Feike 13:18dd7a15603f 68 pc.printf("The motor is off with counts is %i\n\r",counts);
Feike 13:18dd7a15603f 69 break;
Feike 8:017b813c72bb 70 }
Feike 13:18dd7a15603f 71 wait(1.0/1000);
Feike 8:017b813c72bb 72 }
Feike 13:18dd7a15603f 73 cc = pc.getc();
Feike 13:18dd7a15603f 74 counts = 0;
Feike 13:18dd7a15603f 75 pc.printf("The motor is in final state and counts is %i\n\r",counts);
Feike 8:017b813c72bb 76 }
Feike 12:2382468d36a4 77 }