Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

PwmIn/PwmIn.cpp@18:3863ca45cf26, 2016-10-31 (annotated)

Committer:
bwang
Date:
Mon Oct 31 06:53:28 2016 +0000
Revision:
18:3863ca45cf26
Parent:
pwm_in.cpp@16:f283d6032fe5
Child:
19:a6cf15f89f3d
added functionality for torque->dq, throttle->torque commands

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bwang 18:3863ca45cf26 1 #include "PwmIn.h"
dicarloj 13:41d102a53caf 2 #include "mbed.h"
dicarloj 13:41d102a53caf 3
dicarloj 13:41d102a53caf 4 float map(float x, float in_min, float in_max, float out_min, float out_max)
dicarloj 13:41d102a53caf 5 {
dicarloj 13:41d102a53caf 6 return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
dicarloj 13:41d102a53caf 7 }
dicarloj 13:41d102a53caf 8
dicarloj 13:41d102a53caf 9 float constrain(float in, float min, float max)
dicarloj 13:41d102a53caf 10 {
dicarloj 13:41d102a53caf 11 if(in > max) return max;
dicarloj 13:41d102a53caf 12 if(in < min) return min;
dicarloj 13:41d102a53caf 13 return in;
dicarloj 13:41d102a53caf 14 }
dicarloj 13:41d102a53caf 15
bwang 16:f283d6032fe5 16 PwmIn::PwmIn(PinName pin, int usec_min, int usec_max)
dicarloj 13:41d102a53caf 17 {
dicarloj 13:41d102a53caf 18 int_in = new InterruptIn(pin);
dicarloj 13:41d102a53caf 19 dig_in = new DigitalIn(pin);
bwang 16:f283d6032fe5 20 int_in->rise(this, &PwmIn::handle_rise);
bwang 16:f283d6032fe5 21 int_in->fall(this, &PwmIn::handle_fall);
dicarloj 13:41d102a53caf 22 this->usec_min = usec_min;
dicarloj 13:41d102a53caf 23 this->usec_max = usec_max;
dicarloj 13:41d102a53caf 24 }
dicarloj 13:41d102a53caf 25
dicarloj 13:41d102a53caf 26
bwang 16:f283d6032fe5 27 bool PwmIn::get_enabled()
dicarloj 13:41d102a53caf 28 {
dicarloj 13:41d102a53caf 29 return enabled;
dicarloj 13:41d102a53caf 30 }
dicarloj 13:41d102a53caf 31
bwang 16:f283d6032fe5 32 void PwmIn::handle_rise()
dicarloj 13:41d102a53caf 33 {
dicarloj 13:41d102a53caf 34 enabled = true;
dicarloj 13:41d102a53caf 35 timer.stop();
dicarloj 13:41d102a53caf 36 timer.reset();
dicarloj 13:41d102a53caf 37 timer.start();
dicarloj 13:41d102a53caf 38 was_on = true;
dicarloj 13:41d102a53caf 39 }
dicarloj 13:41d102a53caf 40
bwang 16:f283d6032fe5 41 void PwmIn::handle_fall()
dicarloj 13:41d102a53caf 42 {
dicarloj 13:41d102a53caf 43 was_on = false;
dicarloj 13:41d102a53caf 44 usecs = timer.read_us();
dicarloj 13:41d102a53caf 45 timer.stop();
dicarloj 13:41d102a53caf 46 timer.reset();
dicarloj 13:41d102a53caf 47 timer.start();
dicarloj 13:41d102a53caf 48 }
dicarloj 13:41d102a53caf 49
bwang 16:f283d6032fe5 50 float PwmIn::get_throttle()
dicarloj 13:41d102a53caf 51 {
dicarloj 13:41d102a53caf 52 if(timer.read_us() > 40000) enabled = false;
dicarloj 13:41d102a53caf 53 if(!enabled) return -1;
dicarloj 13:41d102a53caf 54 return constrain(map((float)usecs, usec_min, usec_max, 0, 1), 0, 1);
dicarloj 13:41d102a53caf 55 }
dicarloj 13:41d102a53caf 56