Ernesto Palacios / Mbed 2 deprecated DeslizadorUTN

Proyecto de Tesis en Mecatrónica. Universidad Técnica del Norte. Ernesto Palacios <mecatronica.mid@gmail.com>

Dependencies:   EthernetNetIf HTTPServer QEI_hw RPCInterface mbed

Files at this revision

API Documentation at this revision

Revision 33:e6ff02c3e0f5, committed 2014-06-24

Comitter:
Yo_Robot
Date:
Tue Jun 24 17:42:25 2014 +0000
Parent:
32:4483d6c225e5
Child:
34:bdf918bc9b59
Commit message:
Al parecer el problema es la vibraci?n... ahora hay q solucionar el control de posici?n.

Changed in this revision

QEI_hw.lib Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file
setup.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/QEI_hw.lib	Wed May 07 01:05:05 2014 +0000
+++ b/QEI_hw.lib	Tue Jun 24 17:42:25 2014 +0000
@@ -1,1 +1,1 @@
-http://mbed.org/users/hexley/code/QEI_hw/#53f8ae2cf502
+http://mbed.org/users/hexley/code/QEI_hw/#9a372dbd1a17

--- a/main.cpp	Wed May 07 01:05:05 2014 +0000
+++ b/main.cpp	Tue Jun 24 17:42:25 2014 +0000
@@ -29,7 +29,7 @@
 
 QEIHW           encoder(  QEI_DIRINV_CMPL,     // CW = postive;  CCW = negative
                  QEI_SIGNALMODE_QUAD, // Absolute encoder
-                 QEI_CAPMODE_4X,      // PhA anb PhB
+                 QEI_CAPMODE_2X,      // PhA anb PhB
                  QEI_INVINX_NONE      // Not inverted index
                  );
 
@@ -89,7 +89,7 @@
 
     encoder.SetDigiFilter(480UL);         // number of clock cycles the signal must be at high to sense it
     encoder.SetMaxPosition(0xFFFFFFFF);   // max number before overflow - may be changed for 360 or a multiple
-    
+    encoder.SetVelocityTimerReload( 0xFFFFF );    
 
 
 //***************    Configura Red Ethernet     **************************************************//
@@ -173,7 +173,7 @@
     setTimer2();    // Configurar PTO
     pin_son = 0;   // Servo Apagado por defecto
     aout = 0.5;   // Voltaje de salida 0V por defecto( +-10V! )
-        
+    
     
     while(1) 
     {

--- a/setup.cpp	Wed May 07 01:05:05 2014 +0000
+++ b/setup.cpp	Tue Jun 24 17:42:25 2014 +0000
@@ -38,10 +38,10 @@
 int fq_actual = 0;    // Ultimo valor seteado para el tren de pulsos
 
 int bandera_inicio = 0;
-
+ 
 int velocidad_rpm()
 {
-    return encoder.CalculateRPM( encoder.GetVelocityCap(), 360 );
+    return encoder.GetVelocityCap();
 }
 
 void clear_encoder()
@@ -266,9 +266,10 @@
         case 'R':   // Leer la velocidd del encoder en RPM's
         {
             if( isPC )
-                pc.printf( "%d",velocidad_rpm() );
-            else
-                RS_232.printf( "%d",velocidad_rpm() );
+            {
+                pc.printf( "%u", encoder.CalculateRPM( encoder.GetVelocityCap(), 360) );   // ultima velocidad leida desde el encoder
+            }else
+                RS_232.printf( "%u",encoder.CalculateRPM( encoder.GetVelocityCap(), 360) );
             break;
         }