Revision 8:78b1ff957cba, committed 2014-02-22

Comitter:

DavidEGrayson

Date:

Sat Feb 22 02:23:21 2014 +0000

Parent:

7:85b8b5acfb22

Child:

9:9734347b5756

Commit message:

refactored into many files

Changed in this revision

--- a/Pacer.lib	Fri Feb 21 00:00:43 2014 +0000
+++ b/Pacer.lib	Sat Feb 22 02:23:21 2014 +0000
@@ -1,1 +1,1 @@
-Pacer#ffaf699a4eea
+Pacer#415086687bce

--- a/PololuEncoder.lib	Fri Feb 21 00:00:43 2014 +0000
+++ b/PololuEncoder.lib	Sat Feb 22 02:23:21 2014 +0000
@@ -1,1 +1,1 @@
-PololuEncoder#22ac2b4a8012
+PololuEncoder#a2dd8d8bde4c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/encoders.cpp	Sat Feb 22 02:23:21 2014 +0000
@@ -0,0 +1,21 @@
+#include "encoders.h"
+
+const PinName encoderPin1A = p6,
+              encoderPin1B = p7,
+              encoderPin2A = p8,
+              encoderPin2B = p9;
+
+PololuEncoderBuffer encoderBuffer;
+PololuEncoder encoder1(encoderPin1A, encoderPin1B, &encoderBuffer, ENCODER1);
+PololuEncoder encoder2(encoderPin2A, encoderPin2B, &encoderBuffer, ENCODER2);
+
+void encoders_init()
+{
+    DigitalIn(encoderPin1A).mode(PullUp);
+    DigitalIn(encoderPin1B).mode(PullUp);
+    DigitalIn(encoderPin2A).mode(PullUp);
+    DigitalIn(encoderPin2B).mode(PullUp);
+    wait_us(50);
+    encoder1.init();
+    encoder2.init();   
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/encoders.h	Sat Feb 22 02:23:21 2014 +0000
@@ -0,0 +1,11 @@
+#pragma once
+
+#include <PololuEncoder.h>
+
+#define ENCODER1 0x00
+#define ENCODER2 0x01
+
+extern PololuEncoderBuffer encoderBuffer;
+extern PololuEncoder encoder1, encoder2;
+
+void encoders_init();
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/leds.cpp	Sat Feb 22 02:23:21 2014 +0000
@@ -0,0 +1,3 @@
+#include "leds.h"
+
+DigitalOut led1(LED1), led2(LED2), led3(LED3), led4(LED4);

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/leds.h	Sat Feb 22 02:23:21 2014 +0000
@@ -0,0 +1,4 @@
+#pragma once
+
+#include <mbed.h>
+extern DigitalOut led1, led2, led3, led4;
\ No newline at end of file

--- a/main.cpp	Fri Feb 21 00:00:43 2014 +0000
+++ b/main.cpp	Sat Feb 22 02:23:21 2014 +0000
@@ -1,69 +1,36 @@
 #include <mbed.h>
-#include "PololuEncoder.h"
-#include "Pacer.h"
-#include "motors.h"
-
-DigitalOut led1(LED1), led2(LED2);
-
-Serial pc(USBTX, USBRX);
+#include <Pacer.h>
 
-#define ENCODER1 0x00
-#define ENCODER2 0x01
-
-const PinName encoderPin1A = p6,
-              encoderPin1B = p7,
-              encoderPin2A = p8,
-              encoderPin2B = p9;
-
-PololuEncoderBuffer encoderBuffer;
-PololuEncoder encoder1(encoderPin1A, encoderPin1B, &encoderBuffer, ENCODER1);
-PololuEncoder encoder2(encoderPin2A, encoderPin2B, &encoderBuffer, ENCODER2);
+#include "motors.h"
+#include "encoders.h"
+#include "pc_serial.h"
+#include "leds.h"
 
 int main()
 {
     pc.baud(115200);
     
     // Enable pull-ups on encoder pins and give them a chance to settle.
-    DigitalIn(encoderPin1A).mode(PullUp);
-    DigitalIn(encoderPin1B).mode(PullUp);
-    DigitalIn(encoderPin2A).mode(PullUp);
-    DigitalIn(encoderPin2B).mode(PullUp);
-    wait_us(50);
-    encoder1.init();
-    encoder2.init();
-    
+    encoders_init();
     motors_init();
 
-    motors_speed_set(600, 1195);
+    // Test routines
+    motors_test();
+    encoders_test();
 
     Pacer reportPacer(500000);
     Pacer blinkPacer(200000);
-    uint32_t eventCount = 0;
-    uint32_t count = 0;
     while(1)
     {
         while(encoderBuffer.hasEvents())
         {
             PololuEncoderEvent event = encoderBuffer.readEvent();
-            eventCount += 1;
-            if (event == POLOLU_ENCODER_EVENT_ERR | ENCODER1)
-            {
-                pc.puts("error\n");   
-            }
-            else if (event == POLOLU_ENCODER_EVENT_INC | ENCODER1)
-            {
-                count += 1;   
-            }
-            else if (event == POLOLU_ENCODER_EVENT_DEC | ENCODER1)
-            {
-                count -= 1;
-            }
         }
         
         if(reportPacer.pace())
         {
             led2 = 1;
-            pc.printf("%8x\n", LPC_PWM1->MCR);
+            pc.printf("%8d %8d\n", encoder1.getCount(), encoder2.getCount());
             led2 = 0;
         }
         

--- a/motors.cpp	Fri Feb 21 00:00:43 2014 +0000
+++ b/motors.cpp	Sat Feb 22 02:23:21 2014 +0000
@@ -4,18 +4,29 @@
 // Application     mbed pin    LPC1768
 // Motor 1 PWM     p26         P2[0]/PWM1[1]
 // Motor 1 dir     p25
-// Motor 2 PWM     p27         P2[2]/PWM1[3]
-// Motor 2 dir     p28
+// Motor 2 PWM     p24         P2[2]/PWM1[3]
+// Motor 2 dir     p23
 
-static PwmOut motor1Pwm(p26);
+// Clock structure:
+// System clock: 96 MHz
+// In LPC_SC->PCLKSEL0, PWM is assigned to system clock / 4 by default, so it ticks at 24 MHz.
+// This allows us to have 1200 possible speeds at 20 kHz.
+
 DigitalOut motor1Dir(p25);
-
-static PwmOut motor2Pwm(p24);
 DigitalOut motor2Dir(p23);
 
 void motors_init()
 {
-    motor1Pwm.period_us(100);
+    //PwmOut(p26).period_us(100);
+    
+    // Power the PWM module by setting PCPWM1 bit in PCONP register.  (Table 46).
+    LPC_SC->PCONP |= (1 << 6);
+    
+    // In PCLKSEL0 register, set the clock for PWM1 to be equal to CCLK/4 (96/4 = 24 MHz).
+    LPC_SC->PCLKSEL0 &= ~(3 << 12);
+
+    // Select the functions of P2.0 and P2.2 as PWM.  (Table 83).
+    LPC_PINCON->PINSEL4 = (LPC_PINCON->PINSEL4 & ~((3 << 0) | (3 << 4))) | ((1 << 0) | (1 << 4));
     
     // Set most parts of the PWM module to their defaults.
     LPC_PWM1->TCR = 0;
@@ -32,12 +43,31 @@
     motors_speed_set(0, 0);
     
     LPC_PWM1->TCR = (1 << 0) | (1 << 3);   // Enable the PWM counter and enable PWM.
-
 }
 
 void motors_speed_set(int16_t motor1_speed, int16_t motor2_speed)
 {
+    if (motor1_speed < 0)
+    {
+        motor1_speed = -motor1_speed;
+        motor1Dir = 0;   
+    }
+    else
+    {
+        motor1Dir = 1;    
+    }
     LPC_PWM1->MR1 = motor1_speed;
+    
+    if (motor2_speed < 0)
+    {
+        motor2_speed = -motor2_speed;   
+        motor2Dir = 0;
+    }
+    else
+    {
+        motor2Dir = 1;
+    }
     LPC_PWM1->MR3 = motor2_speed;
+    
     LPC_PWM1->LER |= (1<<1) | (1<<3);
 }

--- a/motors.h	Fri Feb 21 00:00:43 2014 +0000
+++ b/motors.h	Sat Feb 22 02:23:21 2014 +0000
@@ -1,2 +1,4 @@
+#pragma once
+
 void motors_init();
 void motors_speed_set(int16_t motor1_speed, int16_t motor2_speed);

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/pc_serial.cpp	Sat Feb 22 02:23:21 2014 +0000
@@ -0,0 +1,3 @@
+#include "pc_serial.h"
+
+Serial pc(USBTX, USBRX);

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/pc_serial.h	Sat Feb 22 02:23:21 2014 +0000
@@ -0,0 +1,4 @@
+#pragma once
+
+#include <mbed.h>
+extern Serial pc;

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/test.cpp	Sat Feb 22 02:23:21 2014 +0000
@@ -0,0 +1,40 @@
+// A file for testing routines that will not be used in the final firmware.
+
+#include <mbed.h>
+#include "motors.h"
+#include "leds.h"
+#include "pc_serial.h"
+
+void testMotors()
+{
+    led1 = 1;
+    led2 = 0;
+    led3 = 0;
+    while(1)
+    {
+        motors_speed_set(0, 0);
+        led2 = 0;
+        led3 = 0;
+        wait(2);
+        
+        motors_speed_set(300, 300);
+        wait(2);
+        
+        motors_speed_set(-300, 300);
+        wait(2);
+        
+        motors_speed_set(0, 0);
+        led2 = 1;
+        wait(2);
+        
+        motors_speed_set(600, 600);
+        wait(2);
+        
+        motors_speed_set(0, 0);
+        led3 = 1;
+        wait(2);
+        
+        motors_speed_set(1200, 1200);
+        wait(2);
+    }
+}
\ No newline at end of file