Revision 7:58648df5be6e, committed 2019-02-19

Comitter:

estott

Date:

Tue Feb 19 09:25:31 2019 +0000

Parent:

6:8167675195f6

Child:

8:4e435ecb1004

Commit message:

Oh dear oh dear

Changed in this revision

--- a/main.cpp.orig	Tue Feb 19 09:24:16 2019 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,125 +0,0 @@
-#include "mbed.h"
-
-//Photointerrupter input pins
-#define I1pin D6
-#define I2pin D11
-#define I3pin D12
-
-//Incremental encoder input pins
-#define CHA   D4
-#define CHB   D5
-
-//Motor Drive output pins   //Mask in output byte
-#define L1Lpin D9           //0x01
-#define L1Hpin D10           //0x02
-#define L2Lpin D1           //0x04
-#define L2Hpin D2          //0x08
-#define L3Lpin D0           //0x10
-#define L3Hpin D3          //0x20
-
-//Motor current sense
-#define MCSPpin   A1
-#define MCSNpin   A0
-
-//Mapping from sequential drive states to motor phase outputs
-/*
-State   L1  L2  L3
-0       H   -   L
-1       -   H   L
-2       L   H   -
-3       L   -   H
-4       -   L   H
-5       H   L   -
-6       -   -   -
-7       -   -   -
-*/
-//Drive state to output table
-const int8_t driveTable[] = {0x12,0x18,0x09,0x21,0x24,0x06,0x00,0x00};
-
-//Mapping from interrupter inputs to sequential rotor states. 0x00 and 0x07 are not valid
-const int8_t stateMap[] = {0x07,0x05,0x03,0x04,0x01,0x00,0x02,0x07};  
-//const int8_t stateMap[] = {0x07,0x01,0x03,0x02,0x05,0x00,0x04,0x07}; //Alternative if phase order of input or drive is reversed
-
-//Phase lead to make motor spin
-const int8_t lead = 2;  //2 for forwards, -2 for backwards
-
-//Status LED
-DigitalOut led1(LED1);
-
-//Photointerrupter inputs
-DigitalIn I1(I1pin);
-DigitalIn I2(I2pin);
-DigitalIn I3(I3pin);
-
-//Motor Drive outputs
-DigitalOut L1L(L1Lpin);
-DigitalOut L1H(L1Hpin);
-DigitalOut L2L(L2Lpin);
-DigitalOut L2H(L2Hpin);
-DigitalOut L3L(L3Lpin);
-DigitalOut L3H(L3Hpin);
-
-//Set a given drive state
-void motorOut(int8_t driveState){
-    
-    //Lookup the output byte from the drive state.
-    int8_t driveOut = driveTable[driveState & 0x07];
-      
-    //Turn off first
-    if (~driveOut & 0x01) L1L = 0;
-    if (~driveOut & 0x02) L1H = 1;
-    if (~driveOut & 0x04) L2L = 0;
-    if (~driveOut & 0x08) L2H = 1;
-    if (~driveOut & 0x10) L3L = 0;
-    if (~driveOut & 0x20) L3H = 1;
-    
-    //Then turn on
-    if (driveOut & 0x01) L1L = 1;
-    if (driveOut & 0x02) L1H = 0;
-    if (driveOut & 0x04) L2L = 1;
-    if (driveOut & 0x08) L2H = 0;
-    if (driveOut & 0x10) L3L = 1;
-    if (driveOut & 0x20) L3H = 0;
-    }
-    
-    //Convert photointerrupter inputs to a rotor state
-inline int8_t readRotorState(){
-    return stateMap[I1 + 2*I2 + 4*I3];
-    }
-
-//Basic synchronisation routine    
-int8_t motorHome() {
-    //Put the motor in drive state 0 and wait for it to stabilise
-    motorOut(0);
-    wait(2.0);
-    
-    //Get the rotor state
-    return readRotorState();
-}
-    
-//Main
-int main() {
-    int8_t orState = 0;    //Rotot offset at motor state 0
-    int8_t intState = 0;
-    int8_t intStateOld = 0;
-    
-    //Initialise the serial port
-    Serial pc(SERIAL_TX, SERIAL_RX);
-    pc.printf("Hello\n\r");
-    
-    //Run the motor synchronisation
-    orState = motorHome();
-    pc.printf("Rotor origin: %x\n\r",orState);
-    //orState is subtracted from future rotor state inputs to align rotor and motor states
-    
-    //Poll the rotor state and set the motor outputs accordingly to spin the motor
-    while (1) {
-        intState = readRotorState();
-        if (intState != intStateOld) {
-            intStateOld = intState;
-            motorOut((intState-orState+lead+6)%6); //+6 to make sure the remainder is positive
-            //pc.printf("%d\n\r",intState);
-        }
-    }
-}
-