Revision 6:8167675195f6, committed 2019-02-19

Comitter:

estott

Date:

Tue Feb 19 09:24:16 2019 +0000

Parent:

5:08f338b5e4d9

Child:

7:58648df5be6e

Commit message:

Oh dear

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp.orig	Tue Feb 19 09:24:16 2019 +0000
@@ -0,0 +1,125 @@
+#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);
+        }
+    }
+}
+