First Last / Mbed 2 deprecated BMT-K9-Regelaar

Start van regelaar

Dependencies:   Encoder MODSERIAL mbed

Dependents:   K9motoraansturing_copy lichtpoortjes

main.cpp@3:c9c1c0ebf89d, 2013-10-09 (annotated)

Committer:
vsluiter
Date:
Wed Oct 09 09:43:49 2013 +0000
Revision:
3:c9c1c0ebf89d
Parent:
2:3d39bce54dfe
Child:
4:2ad0cc818166
Added comment with link

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 0:7bc93f851767 14 volatile bool looptimerflag;
vsluiter 0:7bc93f851767 15
vsluiter 0:7bc93f851767 16 void setlooptimerflag(void)
vsluiter 0:7bc93f851767 17 {
vsluiter 0:7bc93f851767 18 looptimerflag = true;
vsluiter 0:7bc93f851767 19 }
vsluiter 0:7bc93f851767 20
vsluiter 0:7bc93f851767 21
vsluiter 0:7bc93f851767 22 int main() {
vsluiter 1:9d05c0236c7e 23 //LOCAL VARIABLES
vsluiter 1:9d05c0236c7e 24 AnalogIn potmeter(PTC2);
vsluiter 1:9d05c0236c7e 25 Encoder motor1(PTD0,PTC9);//first pin on PTAx or PTDx
vsluiter 0:7bc93f851767 26 MODSERIAL pc(USBTX,USBRX);
vsluiter 0:7bc93f851767 27 PwmOut pwm_motor(PTA12);
vsluiter 0:7bc93f851767 28 DigitalOut motordir(PTD3);
vsluiter 0:7bc93f851767 29 float setpoint;
vsluiter 1:9d05c0236c7e 30 float pwm_to_motor;
vsluiter 1:9d05c0236c7e 31 //START OF CODE
vsluiter 1:9d05c0236c7e 32 pc.baud(230400);
vsluiter 0:7bc93f851767 33 Ticker looptimer;
vsluiter 0:7bc93f851767 34 looptimer.attach(setlooptimerflag,0.01);
vsluiter 1:9d05c0236c7e 35 pc.printf("bla");
vsluiter 1:9d05c0236c7e 36 //INFINITE LOOP
vsluiter 0:7bc93f851767 37 while(1) {
vsluiter 1:9d05c0236c7e 38 while(looptimerflag != true);
vsluiter 0:7bc93f851767 39 looptimerflag = false;
vsluiter 1:9d05c0236c7e 40 setpoint = (potmeter.read()-0.5)*2000;
vsluiter 0:7bc93f851767 41 pc.printf("s: %f, %d \n\r", setpoint, motor1.getPosition());
vsluiter 1:9d05c0236c7e 42 pwm_to_motor = (setpoint - motor1.getPosition())*.001;
vsluiter 1:9d05c0236c7e 43 keep_in_range(&pwm_to_motor, -1,1);
vsluiter 1:9d05c0236c7e 44 if(pwm_to_motor > 0)
vsluiter 2:3d39bce54dfe 45 motordir = 1;
vsluiter 0:7bc93f851767 46 else
vsluiter 2:3d39bce54dfe 47 motordir = 0;
vsluiter 1:9d05c0236c7e 48 //WRITE VALUE TO MOTOR
vsluiter 1:9d05c0236c7e 49 pwm_motor.write(abs(pwm_to_motor));
vsluiter 0:7bc93f851767 50 }
vsluiter 0:7bc93f851767 51 }
vsluiter 0:7bc93f851767 52
vsluiter 0:7bc93f851767 53
vsluiter 0:7bc93f851767 54 //coerces value 'in' to min or max when exceeding those values
vsluiter 0:7bc93f851767 55 //if you'd like to understand the statement below take a google for
vsluiter 0:7bc93f851767 56 //'ternary operators'.
vsluiter 1:9d05c0236c7e 57 void keep_in_range(float * in, float min, float max)
vsluiter 0:7bc93f851767 58 {
vsluiter 0:7bc93f851767 59 *in > min ? *in < max? : *in = max: *in = min;
vsluiter 0:7bc93f851767 60 }
vsluiter 0:7bc93f851767 61
vsluiter 0:7bc93f851767 62
vsluiter 0:7bc93f851767 63