Willem Hoitzing / Mbed 2 deprecated Motor_Aansturing

Dependencies:   MODSERIAL mbed

main.cpp@1:e1c1afc945f9, 2016-09-23 (annotated)

Committer:
willem_hoitzing
Date:
Fri Sep 23 10:13:25 2016 +0000
Revision:
1:e1c1afc945f9
Parent:
0:735b8118a0c9 
2e motor toegevoegd

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 1:e1c1afc945f9 6 PwmOut pwm_M2(D5);
willem_hoitzing 1:e1c1afc945f9 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 1:e1c1afc945f9 12 volatile float float_pwm1;
willem_hoitzing 1:e1c1afc945f9 13 volatile bool bool_dir1 = false;
willem_hoitzing 1:e1c1afc945f9 14 volatile float float_pwm2;
willem_hoitzing 1:e1c1afc945f9 15 volatile bool bool_dir2 = false;
willem_hoitzing 0:735b8118a0c9 16
willem_hoitzing 0:735b8118a0c9 17 void input_u()
willem_hoitzing 0:735b8118a0c9 18 {
willem_hoitzing 0:735b8118a0c9 19 if(pwm_M1 <= 0.95)
willem_hoitzing 0:735b8118a0c9 20 {
willem_hoitzing 0:735b8118a0c9 21 pwm_M1 = pwm_M1 + 0.05;
willem_hoitzing 1:e1c1afc945f9 22 float_pwm1 = float_pwm1+0.05;
willem_hoitzing 1:e1c1afc945f9 23 pc.printf("Speed M1 is set to: %f\n\r", float_pwm1);
willem_hoitzing 0:735b8118a0c9 24 }
willem_hoitzing 0:735b8118a0c9 25 else
willem_hoitzing 0:735b8118a0c9 26 {
willem_hoitzing 0:735b8118a0c9 27 pwm_M1 = (1);
willem_hoitzing 1:e1c1afc945f9 28 float_pwm1 = 1;
willem_hoitzing 1:e1c1afc945f9 29 pc.printf("\nSpeed M1 is maximum\r\n");
willem_hoitzing 1:e1c1afc945f9 30 }
willem_hoitzing 1:e1c1afc945f9 31 }
willem_hoitzing 1:e1c1afc945f9 32
willem_hoitzing 1:e1c1afc945f9 33 void input_i()
willem_hoitzing 1:e1c1afc945f9 34 {
willem_hoitzing 1:e1c1afc945f9 35 if(pwm_M2 <= 0.95)
willem_hoitzing 1:e1c1afc945f9 36 {
willem_hoitzing 1:e1c1afc945f9 37 pwm_M2 = pwm_M2 + 0.05;
willem_hoitzing 1:e1c1afc945f9 38 float_pwm2 = float_pwm2+0.05;
willem_hoitzing 1:e1c1afc945f9 39 pc.printf("Speed M2 is set to: %f\n\r", float_pwm2);
willem_hoitzing 1:e1c1afc945f9 40 }
willem_hoitzing 1:e1c1afc945f9 41 else
willem_hoitzing 1:e1c1afc945f9 42 {
willem_hoitzing 1:e1c1afc945f9 43 pwm_M2 = (1);
willem_hoitzing 1:e1c1afc945f9 44 float_pwm2 = 1;
willem_hoitzing 1:e1c1afc945f9 45 pc.printf("\nSpeed M2 is maximum\r\n");
willem_hoitzing 0:735b8118a0c9 46 }
willem_hoitzing 0:735b8118a0c9 47 }
willem_hoitzing 0:735b8118a0c9 48
willem_hoitzing 0:735b8118a0c9 49 void input_d()
willem_hoitzing 0:735b8118a0c9 50 {
willem_hoitzing 0:735b8118a0c9 51 if(pwm_M1 >= 0.05)
willem_hoitzing 0:735b8118a0c9 52 {
willem_hoitzing 0:735b8118a0c9 53 pwm_M1 = (pwm_M1 - 0.05);
willem_hoitzing 1:e1c1afc945f9 54 float_pwm1 = float_pwm1-0.05;
willem_hoitzing 1:e1c1afc945f9 55 pc.printf("Speed M1 is set to: %f\n\r", float_pwm1);
willem_hoitzing 0:735b8118a0c9 56 }
willem_hoitzing 0:735b8118a0c9 57 else
willem_hoitzing 0:735b8118a0c9 58 {
willem_hoitzing 0:735b8118a0c9 59 pwm_M1 = (0);
willem_hoitzing 1:e1c1afc945f9 60 float_pwm1 = 0;
willem_hoitzing 1:e1c1afc945f9 61 pc.printf("\nSpeed M1 is minimum\r\n");
willem_hoitzing 1:e1c1afc945f9 62 }
willem_hoitzing 1:e1c1afc945f9 63 }
willem_hoitzing 1:e1c1afc945f9 64
willem_hoitzing 1:e1c1afc945f9 65 void input_f()
willem_hoitzing 1:e1c1afc945f9 66 {
willem_hoitzing 1:e1c1afc945f9 67 if(pwm_M2 >= 0.05)
willem_hoitzing 1:e1c1afc945f9 68 {
willem_hoitzing 1:e1c1afc945f9 69 pwm_M2 = (pwm_M2 - 0.05);
willem_hoitzing 1:e1c1afc945f9 70 float_pwm2 = float_pwm2-0.05;
willem_hoitzing 1:e1c1afc945f9 71 pc.printf("Speed M2 is set to: %f\n\r", float_pwm2);
willem_hoitzing 1:e1c1afc945f9 72 }
willem_hoitzing 1:e1c1afc945f9 73 else
willem_hoitzing 1:e1c1afc945f9 74 {
willem_hoitzing 1:e1c1afc945f9 75 pwm_M2 = (0);
willem_hoitzing 1:e1c1afc945f9 76 float_pwm2 = 0;
willem_hoitzing 1:e1c1afc945f9 77 pc.printf("\nSpeed M2 is minimum\r\n");
willem_hoitzing 0:735b8118a0c9 78 }
willem_hoitzing 0:735b8118a0c9 79 }
willem_hoitzing 0:735b8118a0c9 80
willem_hoitzing 0:735b8118a0c9 81 void input_c()
willem_hoitzing 0:735b8118a0c9 82 {
willem_hoitzing 1:e1c1afc945f9 83 float pwm_original1 = pwm_M1;
willem_hoitzing 0:735b8118a0c9 84 while(pwm_M1>0)
willem_hoitzing 0:735b8118a0c9 85 {
willem_hoitzing 0:735b8118a0c9 86 pwm_M1 = pwm_M1 - 0.1;
willem_hoitzing 0:735b8118a0c9 87 wait(0.1);
willem_hoitzing 0:735b8118a0c9 88 }
willem_hoitzing 0:735b8118a0c9 89 dir_M1 = !dir_M1;
willem_hoitzing 1:e1c1afc945f9 90 while(pwm_M1 < pwm_original1)
willem_hoitzing 0:735b8118a0c9 91 {
willem_hoitzing 0:735b8118a0c9 92 pwm_M1 = pwm_M1 + 0.1;
willem_hoitzing 0:735b8118a0c9 93 wait(0.1);
willem_hoitzing 0:735b8118a0c9 94 }
willem_hoitzing 1:e1c1afc945f9 95 bool_dir1 = !bool_dir1;
willem_hoitzing 0:735b8118a0c9 96 if(dir_M1 == cw)
willem_hoitzing 0:735b8118a0c9 97 {
willem_hoitzing 1:e1c1afc945f9 98 pc.printf("\nDirection M1 is set to: clockwise\r\n");
willem_hoitzing 0:735b8118a0c9 99
willem_hoitzing 1:e1c1afc945f9 100 pc.printf("Direction M1: %B\r\n", bool_dir1);
willem_hoitzing 0:735b8118a0c9 101 }
willem_hoitzing 0:735b8118a0c9 102 else
willem_hoitzing 0:735b8118a0c9 103 {
willem_hoitzing 1:e1c1afc945f9 104 pc.printf("\nDirection M1 is set to: counter-clockwise\r\n");
willem_hoitzing 0:735b8118a0c9 105
willem_hoitzing 1:e1c1afc945f9 106 pc.printf("Direction M1: %B\r\n", bool_dir1);
willem_hoitzing 1:e1c1afc945f9 107 }
willem_hoitzing 1:e1c1afc945f9 108 }
willem_hoitzing 1:e1c1afc945f9 109
willem_hoitzing 1:e1c1afc945f9 110 void input_v()
willem_hoitzing 1:e1c1afc945f9 111 {
willem_hoitzing 1:e1c1afc945f9 112 float pwm_original2 = pwm_M2;
willem_hoitzing 1:e1c1afc945f9 113 while(pwm_M2>0)
willem_hoitzing 1:e1c1afc945f9 114 {
willem_hoitzing 1:e1c1afc945f9 115 pwm_M2 = pwm_M2 - 0.1;
willem_hoitzing 1:e1c1afc945f9 116 wait(0.1);
willem_hoitzing 1:e1c1afc945f9 117 }
willem_hoitzing 1:e1c1afc945f9 118 dir_M2 = !dir_M2;
willem_hoitzing 1:e1c1afc945f9 119 while(pwm_M2 < pwm_original2)
willem_hoitzing 1:e1c1afc945f9 120 {
willem_hoitzing 1:e1c1afc945f9 121 pwm_M2 = pwm_M2 + 0.1;
willem_hoitzing 1:e1c1afc945f9 122 wait(0.1);
willem_hoitzing 1:e1c1afc945f9 123 }
willem_hoitzing 1:e1c1afc945f9 124 bool_dir2 = !bool_dir2;
willem_hoitzing 1:e1c1afc945f9 125 if(dir_M2 == cw)
willem_hoitzing 1:e1c1afc945f9 126 {
willem_hoitzing 1:e1c1afc945f9 127 pc.printf("\nDirection M2 is set to: clockwise\r\n");
willem_hoitzing 1:e1c1afc945f9 128
willem_hoitzing 1:e1c1afc945f9 129 pc.printf("Direction M2: %B\r\n", bool_dir2);
willem_hoitzing 1:e1c1afc945f9 130 }
willem_hoitzing 1:e1c1afc945f9 131 else
willem_hoitzing 1:e1c1afc945f9 132 {
willem_hoitzing 1:e1c1afc945f9 133 pc.printf("\nDirection M2 is set to: counter-clockwise\r\n");
willem_hoitzing 1:e1c1afc945f9 134
willem_hoitzing 1:e1c1afc945f9 135 pc.printf("Direction M2: %B\r\n", bool_dir2);
willem_hoitzing 0:735b8118a0c9 136 }
willem_hoitzing 0:735b8118a0c9 137 }
willem_hoitzing 0:735b8118a0c9 138
willem_hoitzing 0:735b8118a0c9 139 int main()
willem_hoitzing 0:735b8118a0c9 140 {
willem_hoitzing 0:735b8118a0c9 141 pc.baud(115200);
willem_hoitzing 1:e1c1afc945f9 142 pwm_M1 = 0.5;
willem_hoitzing 1:e1c1afc945f9 143 pwm_M2 = 0.5;
willem_hoitzing 1:e1c1afc945f9 144 float_pwm1 = 0.5;
willem_hoitzing 1:e1c1afc945f9 145 float_pwm2 = 0.5;
willem_hoitzing 0:735b8118a0c9 146 dir_M1 = cw;
willem_hoitzing 1:e1c1afc945f9 147 dir_M2 = cw;
willem_hoitzing 0:735b8118a0c9 148 for(;;){
willem_hoitzing 0:735b8118a0c9 149 input = pc.getc();
willem_hoitzing 0:735b8118a0c9 150 wait(0.01);
willem_hoitzing 0:735b8118a0c9 151 switch(input)
willem_hoitzing 0:735b8118a0c9 152 {
willem_hoitzing 0:735b8118a0c9 153 case 'u':
willem_hoitzing 0:735b8118a0c9 154 input_u();
willem_hoitzing 0:735b8118a0c9 155 break;
willem_hoitzing 0:735b8118a0c9 156 case 'd':
willem_hoitzing 0:735b8118a0c9 157 input_d();
willem_hoitzing 0:735b8118a0c9 158 break;
willem_hoitzing 0:735b8118a0c9 159 case 'c':
willem_hoitzing 0:735b8118a0c9 160 input_c();
willem_hoitzing 0:735b8118a0c9 161 break;
willem_hoitzing 1:e1c1afc945f9 162 case 'i':
willem_hoitzing 1:e1c1afc945f9 163 input_i();
willem_hoitzing 1:e1c1afc945f9 164 break;
willem_hoitzing 1:e1c1afc945f9 165 case 'f':
willem_hoitzing 1:e1c1afc945f9 166 input_f();
willem_hoitzing 1:e1c1afc945f9 167 break;
willem_hoitzing 1:e1c1afc945f9 168 case 'v':
willem_hoitzing 1:e1c1afc945f9 169 input_v();
willem_hoitzing 1:e1c1afc945f9 170 break;
willem_hoitzing 0:735b8118a0c9 171 default:
willem_hoitzing 0:735b8118a0c9 172 pc.printf("\nUnknown command\n\r");
willem_hoitzing 0:735b8118a0c9 173 }
willem_hoitzing 0:735b8118a0c9 174 }
willem_hoitzing 0:735b8118a0c9 175 }