Revision 0:b638163ed537, committed 2019-11-11

Comitter:

yeongsookim

Date:

Mon Nov 11 00:06:25 2019 +0000

Commit message:

19.11.11 mechatronics lecture distrubution; PSD (distance sensor) and Servo motor control

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Actuator/Servo.cpp	Mon Nov 11 00:06:25 2019 +0000
@@ -0,0 +1,41 @@
+#include "Servo.h"
+
+
+Servo::Servo(PinName IN): m_PWM(IN)
+{
+    m_degree=0;
+    m_width= MID+(0.0005/90.0)*m_degree;
+    m_period_ticker.attach(callback(this, &Servo::setPeriod),0.02);
+    m_width_timeout.attach(callback(this, &Servo::setWidth),m_width);
+    m_PWM=1;
+}
+
+void Servo::setWidth()
+{
+    m_PWM=0;
+}
+
+void Servo::setPeriod()
+{
+    
+    m_width_timeout.attach(callback(this, &Servo::setWidth),m_width);
+    m_PWM=1;
+}
+
+float Servo::getDegree()
+{
+    return m_degree;
+}
+
+void Servo::update(float degree)
+{
+    if(degree>MAX) {
+        degree=MAX;
+    }
+    if(degree<-1*MAX) {
+        degree=MAX*-1;
+    }
+
+    m_degree=degree;
+    m_width= MID+(0.0005/90.0)*degree;
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Actuator/Servo.h	Mon Nov 11 00:06:25 2019 +0000
@@ -0,0 +1,26 @@
+#ifndef MBED_SERVO_H
+#define MBED_SERVO_H
+
+#include "mbed.h"
+
+#define MAX 20.0
+#define MID 0.001434
+
+class Servo
+{
+private:
+    DigitalOut m_PWM;
+    Ticker m_period_ticker;
+    Timeout m_width_timeout;
+    float m_degree;
+    float m_width;
+    
+    void setPeriod();
+    void setWidth();
+public:
+    Servo(PinName IN);
+    void update(float degree);
+    float getDegree();
+};
+
+#endif

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Plotting/Plotting.cpp	Mon Nov 11 00:06:25 2019 +0000
@@ -0,0 +1,50 @@
+#include "Plotting.h"
+
+Plotting::Plotting()
+{
+    for(int i=0; i<32; i++) {
+        datas[i]=0;
+    }
+    dataCount=0;
+}
+
+void Plotting::reset()
+{
+    for(int i=0; i<32; i++) {
+        datas[i]=0;
+    }
+    dataCount=0;
+}
+
+void Plotting::put(float data, int index)
+{
+    datas[index]=data;
+    dataCount++;
+}
+
+void Plotting::put(int data, int index)
+{
+    datas[index]=(float)data;
+    dataCount++;
+}
+
+void Plotting::put(unsigned int data, int index)
+{
+    datas[index]=(float)data;
+    dataCount++;
+}
+
+void Plotting::send(Serial *port)
+{
+    port->putc(0xAA);
+    port->putc(0xBB);
+    port->putc(0xCC);
+    port->putc((char)(dataCount*4));
+    for(int i=0; i<dataCount; i++) {
+        char *bytePtr = (char *)&(datas[i]);
+        port->putc(*bytePtr);      // reverse the order of these lines if you have endian issues
+        port->putc(*(bytePtr+1));
+        port->putc(*(bytePtr+2));
+        port->putc(*(bytePtr+3));
+    }
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Plotting/Plotting.h	Mon Nov 11 00:06:25 2019 +0000
@@ -0,0 +1,21 @@
+#ifndef MBED_PLOTTING_H
+#define MBED_PLOTTING_H
+
+#include "mbed.h"
+
+class Plotting
+{
+private:
+    float datas[32];
+    int dataCount;
+public:
+    Plotting();
+    
+    void reset();
+    void put(float data, int index);
+    void put(int data, int index);
+    void put(unsigned int data, int index);
+    void send(Serial *port);
+};
+
+#endif

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Sensor/DistanceSensor.cpp	Mon Nov 11 00:06:25 2019 +0000
@@ -0,0 +1,13 @@
+#include "DistanceSensor.h"
+
+#define MAX_DISTANCE (-1.0)
+
+DistanceSensor::DistanceSensor(PinName a): m_analogIn(a)
+{
+    m_distance = MAX_DISTANCE;
+}
+float DistanceSensor::getDistance_cm()
+{
+    
+    return m_analogIn*3.3;
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Sensor/DistanceSensor.h	Mon Nov 11 00:06:25 2019 +0000
@@ -0,0 +1,21 @@
+#ifndef MBED_DISTANCESENSOR_H
+#define MBED_DISTANCESENSOR_H
+
+#include "mbed.h"
+
+
+
+
+class DistanceSensor
+{
+public:
+    DistanceSensor(PinName a);
+    float getDistance_cm();
+
+protected:
+    float m_distance;
+    AnalogIn  m_analogIn;
+    
+};
+
+#endif //MBED_DISTANCESENSOR_H

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Nov 11 00:06:25 2019 +0000
@@ -0,0 +1,67 @@
+#include "mbed.h"
+#include "DistanceSensor.h"
+#include "Plotting.h"
+#include "Servo.h"
+
+DistanceSensor pir (p20);
+Servo servo (p10);
+Serial pc (USBTX, USBRX); // tx, rx
+Plotting plot;
+
+//Interrupt is generated every 1ms and degree is increased by 1
+unsigned int uiFlag_50ms = 0;
+    
+void counter_1ms ()
+{
+    uiFlag_50ms++;
+}
+
+// Align servo 
+int main()
+{
+    float degree = 0.0;
+    pc.printf("Waiting Request\n");
+    servo.update (0.0);
+    
+    pc.printf("Degree: %f\n", servo.getDegree());
+    while(1) {
+        char c = pc.getc();
+        
+        if (c == 'u') degree += 0.5;
+        else if (c == 'd') degree -= 0.5;
+            
+        servo.update (degree);
+        degree = servo.getDegree();
+        pc.printf("Degree: %f\n", servo.getDegree());
+    }
+}
+
+//// Plot distance sensor
+//int main()
+//{
+//    wait(1);
+//
+//    //Set the 1ms thicker.
+//    Ticker ticker_1ms;
+//    ticker_1ms.attach(&counter_1ms,0.001);
+//
+//    Timer time;
+//    time.start();
+//
+//    while(1) {
+//        // Every 50 ms,
+//        if(uiFlag_50ms>=50) {
+//            uiFlag_50ms=0;
+//            
+//            // clear plotting buffer
+//            plot.reset();
+//            
+//            // put data to buffer
+//            plot.put(pir.getDistance_cm(),0);
+//            
+//            // send buffer
+//            plot.send(&pc);
+////            pc.printf ("Distance %f\r\n", pir.getDistance_cm());
+//        }
+//    }
+//}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Mon Nov 11 00:06:25 2019 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400
\ No newline at end of file