First Last / Mbed 2 deprecated BMT-K9-Regelaar

Start van regelaar

Dependencies:   Encoder MODSERIAL mbed

Dependents:   K9motoraansturing_copy lichtpoortjes

main.cpp@4:2ad0cc818166, 2013-10-09 (annotated)

Committer:
vsluiter
Date:
Wed Oct 09 10:27:29 2013 +0000
Revision:
4:2ad0cc818166
Parent:
3:c9c1c0ebf89d 
added heaps of comments

Who changed what in which revision?

UserRevisionLine numberNew contents of line
vsluiter 0:7bc93f851767 1 #include "mbed.h"
vsluiter 0:7bc93f851767 2 #include "encoder.h"
vsluiter 0:7bc93f851767 3 #include "MODSERIAL.h"
vsluiter 0:7bc93f851767 4
vsluiter 3:c9c1c0ebf89d 5 /*******************************************************************************
vsluiter 3:c9c1c0ebf89d 6 * *
vsluiter 3:c9c1c0ebf89d 7 * Code can be found at http://mbed.org/users/vsluiter/code/BMT-K9-Regelaar/ *
vsluiter 3:c9c1c0ebf89d 8 * *
vsluiter 3:c9c1c0ebf89d 9 ********************************************************************************/
vsluiter 3:c9c1c0ebf89d 10
vsluiter 1:9d05c0236c7e 11 /** keep_in_range -> float in, and keep_in_range if less than min, or larger than max **/
vsluiter 1:9d05c0236c7e 12 void keep_in_range(float * in, float min, float max);
vsluiter 1:9d05c0236c7e 13
vsluiter 4:2ad0cc818166 14 /** variable to show when a new loop can be started*/
vsluiter 4:2ad0cc818166 15 /** volatile means that it can be changed in an */
vsluiter 4:2ad0cc818166 16 /** interrupt routine, and that that change is vis-*/
vsluiter 4:2ad0cc818166 17 /** ible in the main loop. */
vsluiter 4:2ad0cc818166 18
vsluiter 0:7bc93f851767 19 volatile bool looptimerflag;
vsluiter 0:7bc93f851767 20
vsluiter 4:2ad0cc818166 21 /** function called by Ticker "looptimer" */
vsluiter 4:2ad0cc818166 22 /** variable 'looptimerflag' is set to 'true' */
vsluiter 4:2ad0cc818166 23 /** each time the looptimer expires. */
vsluiter 0:7bc93f851767 24 void setlooptimerflag(void)
vsluiter 0:7bc93f851767 25 {
vsluiter 0:7bc93f851767 26 looptimerflag = true;
vsluiter 0:7bc93f851767 27 }
vsluiter 0:7bc93f851767 28
vsluiter 0:7bc93f851767 29
vsluiter 0:7bc93f851767 30 int main() {
vsluiter 1:9d05c0236c7e 31 //LOCAL VARIABLES
vsluiter 4:2ad0cc818166 32 /*Potmeter input*/
vsluiter 1:9d05c0236c7e 33 AnalogIn potmeter(PTC2);
vsluiter 4:2ad0cc818166 34 /* Encoder, using my encoder library */
vsluiter 4:2ad0cc818166 35 /* First pin should be PTDx or PTAx */
vsluiter 4:2ad0cc818166 36 /* because those pins can be used as */
vsluiter 4:2ad0cc818166 37 /* InterruptIn */
vsluiter 4:2ad0cc818166 38 Encoder motor1(PTD0,PTC9);
vsluiter 4:2ad0cc818166 39 /* MODSERIAL to get non-blocking Serial*/
vsluiter 0:7bc93f851767 40 MODSERIAL pc(USBTX,USBRX);
vsluiter 4:2ad0cc818166 41 /* PWM control to motor */
vsluiter 0:7bc93f851767 42 PwmOut pwm_motor(PTA12);
vsluiter 4:2ad0cc818166 43 /* Direction pin */
vsluiter 0:7bc93f851767 44 DigitalOut motordir(PTD3);
vsluiter 4:2ad0cc818166 45 /* variable to store setpoint in */
vsluiter 0:7bc93f851767 46 float setpoint;
vsluiter 4:2ad0cc818166 47 /* variable to store pwm value in*/
vsluiter 1:9d05c0236c7e 48 float pwm_to_motor;
vsluiter 1:9d05c0236c7e 49 //START OF CODE
vsluiter 4:2ad0cc818166 50
vsluiter 4:2ad0cc818166 51 /*Set the baudrate (use this number in RealTerm too! */
vsluiter 1:9d05c0236c7e 52 pc.baud(230400);
vsluiter 4:2ad0cc818166 53
vsluiter 4:2ad0cc818166 54 /*Create a ticker, and let it call the */
vsluiter 4:2ad0cc818166 55 /*function 'setlooptimerflag' every 0.01s */
vsluiter 0:7bc93f851767 56 Ticker looptimer;
vsluiter 0:7bc93f851767 57 looptimer.attach(setlooptimerflag,0.01);
vsluiter 4:2ad0cc818166 58 /* Oops... I left some test code in my program */
vsluiter 1:9d05c0236c7e 59 pc.printf("bla");
vsluiter 4:2ad0cc818166 60
vsluiter 1:9d05c0236c7e 61 //INFINITE LOOP
vsluiter 0:7bc93f851767 62 while(1) {
vsluiter 4:2ad0cc818166 63 /* Wait until looptimer flag is true. */
vsluiter 4:2ad0cc818166 64 /* '!=' means not-is-equal */
vsluiter 1:9d05c0236c7e 65 while(looptimerflag != true);
vsluiter 4:2ad0cc818166 66 /* Clear the looptimerflag, otherwise */
vsluiter 4:2ad0cc818166 67 /* the program would simply continue */
vsluiter 4:2ad0cc818166 68 /* without waitingin the next iteration*/
vsluiter 0:7bc93f851767 69 looptimerflag = false;
vsluiter 4:2ad0cc818166 70
vsluiter 4:2ad0cc818166 71 /* Read potmeter value, apply some math */
vsluiter 4:2ad0cc818166 72 /* to get useful setpoint value */
vsluiter 1:9d05c0236c7e 73 setpoint = (potmeter.read()-0.5)*2000;
vsluiter 4:2ad0cc818166 74
vsluiter 4:2ad0cc818166 75 /* Print setpoint and current position to serial terminal*/
vsluiter 0:7bc93f851767 76 pc.printf("s: %f, %d \n\r", setpoint, motor1.getPosition());
vsluiter 4:2ad0cc818166 77
vsluiter 4:2ad0cc818166 78 /* This is a P-action! calculate error, multiply with gain, and store in pwm_to_motor */
vsluiter 1:9d05c0236c7e 79 pwm_to_motor = (setpoint - motor1.getPosition())*.001;
vsluiter 4:2ad0cc818166 80 /* Coerce pwm value if outside range */
vsluiter 4:2ad0cc818166 81 /* Not strictly needed here, but useful */
vsluiter 4:2ad0cc818166 82 /* if doing other calculations with pwm value */
vsluiter 1:9d05c0236c7e 83 keep_in_range(&pwm_to_motor, -1,1);
vsluiter 4:2ad0cc818166 84
vsluiter 4:2ad0cc818166 85 /* Control the motor direction pin. based on */
vsluiter 4:2ad0cc818166 86 /* the sign of your pwm value. If your */
vsluiter 4:2ad0cc818166 87 /* motor keeps spinning when running this code */
vsluiter 4:2ad0cc818166 88 /* you probably need to swap the motor wires, */
vsluiter 4:2ad0cc818166 89 /* or swap the 'write(1)' and 'write(0)' below */
vsluiter 1:9d05c0236c7e 90 if(pwm_to_motor > 0)
vsluiter 4:2ad0cc818166 91 motordir.write(1);
vsluiter 0:7bc93f851767 92 else
vsluiter 4:2ad0cc818166 93 motordir.write(0);
vsluiter 4:2ad0cc818166 94 //WRITE VALUE TO MOTOR
vsluiter 4:2ad0cc818166 95 /* Take the absolute value of the PWM to send */
vsluiter 4:2ad0cc818166 96 /* to the motor. */
vsluiter 1:9d05c0236c7e 97 pwm_motor.write(abs(pwm_to_motor));
vsluiter 0:7bc93f851767 98 }
vsluiter 0:7bc93f851767 99 }
vsluiter 0:7bc93f851767 100
vsluiter 0:7bc93f851767 101
vsluiter 0:7bc93f851767 102 //coerces value 'in' to min or max when exceeding those values
vsluiter 0:7bc93f851767 103 //if you'd like to understand the statement below take a google for
vsluiter 0:7bc93f851767 104 //'ternary operators'.
vsluiter 1:9d05c0236c7e 105 void keep_in_range(float * in, float min, float max)
vsluiter 0:7bc93f851767 106 {
vsluiter 0:7bc93f851767 107 *in > min ? *in < max? : *in = max: *in = min;
vsluiter 0:7bc93f851767 108 }
vsluiter 0:7bc93f851767 109
vsluiter 0:7bc93f851767 110
vsluiter 0:7bc93f851767 111