Willem Hoitzing / Mbed 2 deprecated Motor_Aansturing

Dependencies:   MODSERIAL mbed

main.cpp@0:735b8118a0c9, 2016-09-23 (annotated)

Committer:
willem_hoitzing
Date:
Fri Sep 23 10:03:41 2016 +0000
Revision:
0:735b8118a0c9
Child:
1:e1c1afc945f9
Aansturing motor met toetsenbord

Who changed what in which revision?

UserRevisionLine numberNew contents of line
willem_hoitzing 0:735b8118a0c9 1 #include "mbed.h"
willem_hoitzing 0:735b8118a0c9 2 #include "MODSERIAL.h"
willem_hoitzing 0:735b8118a0c9 3
willem_hoitzing 0:735b8118a0c9 4 PwmOut pwm_M1(D6);
willem_hoitzing 0:735b8118a0c9 5 DigitalOut dir_M1(D7);
willem_hoitzing 0:735b8118a0c9 6 //PwmOut pwm_M2(D5);
willem_hoitzing 0:735b8118a0c9 7 //DigitalOut dir_M2(D4);
willem_hoitzing 0:735b8118a0c9 8 MODSERIAL pc(USBTX, USBRX);
willem_hoitzing 0:735b8118a0c9 9 int cw = 0;
willem_hoitzing 0:735b8118a0c9 10 int ccw = 1;
willem_hoitzing 0:735b8118a0c9 11 char input;
willem_hoitzing 0:735b8118a0c9 12 volatile float float_pwm;
willem_hoitzing 0:735b8118a0c9 13 volatile bool bool_dir = false;
willem_hoitzing 0:735b8118a0c9 14
willem_hoitzing 0:735b8118a0c9 15 void input_u()
willem_hoitzing 0:735b8118a0c9 16 {
willem_hoitzing 0:735b8118a0c9 17 if(pwm_M1 <= 0.95)
willem_hoitzing 0:735b8118a0c9 18 {
willem_hoitzing 0:735b8118a0c9 19 pwm_M1 = pwm_M1 + 0.05;
willem_hoitzing 0:735b8118a0c9 20 float_pwm = float_pwm+0.05;
willem_hoitzing 0:735b8118a0c9 21 pc.printf("Speed is set to: %f\n\r", float_pwm);
willem_hoitzing 0:735b8118a0c9 22 }
willem_hoitzing 0:735b8118a0c9 23 else
willem_hoitzing 0:735b8118a0c9 24 {
willem_hoitzing 0:735b8118a0c9 25 pwm_M1 = (1);
willem_hoitzing 0:735b8118a0c9 26 float_pwm = 1;
willem_hoitzing 0:735b8118a0c9 27 pc.printf("\nSpeed is maximum\r\n");
willem_hoitzing 0:735b8118a0c9 28 }
willem_hoitzing 0:735b8118a0c9 29 }
willem_hoitzing 0:735b8118a0c9 30
willem_hoitzing 0:735b8118a0c9 31 void input_d()
willem_hoitzing 0:735b8118a0c9 32 {
willem_hoitzing 0:735b8118a0c9 33 if(pwm_M1 >= 0.05)
willem_hoitzing 0:735b8118a0c9 34 {
willem_hoitzing 0:735b8118a0c9 35 pwm_M1 = (pwm_M1 - 0.05);
willem_hoitzing 0:735b8118a0c9 36 float_pwm = float_pwm-0.05;
willem_hoitzing 0:735b8118a0c9 37 pc.printf("Speed is set to: %f\n\r", float_pwm);
willem_hoitzing 0:735b8118a0c9 38 }
willem_hoitzing 0:735b8118a0c9 39 else
willem_hoitzing 0:735b8118a0c9 40 {
willem_hoitzing 0:735b8118a0c9 41 pwm_M1 = (0);
willem_hoitzing 0:735b8118a0c9 42 float_pwm = 0;
willem_hoitzing 0:735b8118a0c9 43 pc.printf("\nSpeed is minimum\r\n");
willem_hoitzing 0:735b8118a0c9 44 }
willem_hoitzing 0:735b8118a0c9 45 }
willem_hoitzing 0:735b8118a0c9 46
willem_hoitzing 0:735b8118a0c9 47 void input_c()
willem_hoitzing 0:735b8118a0c9 48 {
willem_hoitzing 0:735b8118a0c9 49 float pwm_original = pwm_M1;
willem_hoitzing 0:735b8118a0c9 50 while(pwm_M1>0)
willem_hoitzing 0:735b8118a0c9 51 {
willem_hoitzing 0:735b8118a0c9 52 pwm_M1 = pwm_M1 - 0.1;
willem_hoitzing 0:735b8118a0c9 53 wait(0.1);
willem_hoitzing 0:735b8118a0c9 54 }
willem_hoitzing 0:735b8118a0c9 55 dir_M1 = !dir_M1;
willem_hoitzing 0:735b8118a0c9 56 while(pwm_M1 < pwm_original)
willem_hoitzing 0:735b8118a0c9 57 {
willem_hoitzing 0:735b8118a0c9 58 pwm_M1 = pwm_M1 + 0.1;
willem_hoitzing 0:735b8118a0c9 59 wait(0.1);
willem_hoitzing 0:735b8118a0c9 60 }
willem_hoitzing 0:735b8118a0c9 61 bool_dir = !bool_dir;
willem_hoitzing 0:735b8118a0c9 62 if(dir_M1 == cw)
willem_hoitzing 0:735b8118a0c9 63 {
willem_hoitzing 0:735b8118a0c9 64 pc.printf("\nDirection is set to: clockwise\r\n");
willem_hoitzing 0:735b8118a0c9 65
willem_hoitzing 0:735b8118a0c9 66 pc.printf("\nDirection: %B\r\n", bool_dir);
willem_hoitzing 0:735b8118a0c9 67 }
willem_hoitzing 0:735b8118a0c9 68 else
willem_hoitzing 0:735b8118a0c9 69 {
willem_hoitzing 0:735b8118a0c9 70 pc.printf("\nDirection is set to: counter-clockwise\r\n");
willem_hoitzing 0:735b8118a0c9 71
willem_hoitzing 0:735b8118a0c9 72 pc.printf("\nDirection: %B\r\n", bool_dir);
willem_hoitzing 0:735b8118a0c9 73 }
willem_hoitzing 0:735b8118a0c9 74 }
willem_hoitzing 0:735b8118a0c9 75
willem_hoitzing 0:735b8118a0c9 76 int main()
willem_hoitzing 0:735b8118a0c9 77 {
willem_hoitzing 0:735b8118a0c9 78 pc.baud(115200);
willem_hoitzing 0:735b8118a0c9 79 pwm_M1 = (0.5);
willem_hoitzing 0:735b8118a0c9 80 float_pwm = 0.5;
willem_hoitzing 0:735b8118a0c9 81 dir_M1 = cw;
willem_hoitzing 0:735b8118a0c9 82 for(;;){
willem_hoitzing 0:735b8118a0c9 83 input = pc.getc();
willem_hoitzing 0:735b8118a0c9 84 wait(0.01);
willem_hoitzing 0:735b8118a0c9 85 switch(input)
willem_hoitzing 0:735b8118a0c9 86 {
willem_hoitzing 0:735b8118a0c9 87 case 'u':
willem_hoitzing 0:735b8118a0c9 88 input_u();
willem_hoitzing 0:735b8118a0c9 89 break;
willem_hoitzing 0:735b8118a0c9 90 case 'd':
willem_hoitzing 0:735b8118a0c9 91 input_d();
willem_hoitzing 0:735b8118a0c9 92 break;
willem_hoitzing 0:735b8118a0c9 93 case 'c':
willem_hoitzing 0:735b8118a0c9 94 input_c();
willem_hoitzing 0:735b8118a0c9 95 break;
willem_hoitzing 0:735b8118a0c9 96 default:
willem_hoitzing 0:735b8118a0c9 97 pc.printf("\nUnknown command\n\r");
willem_hoitzing 0:735b8118a0c9 98 }
willem_hoitzing 0:735b8118a0c9 99 }
willem_hoitzing 0:735b8118a0c9 100 }