コード例 #1
0
ファイル: Encoder.c プロジェクト: KHIEM2812/mySTMlib
void ResetEncoder(Encoder * me) {
	DisableEncoder(me);
	me->prevEncoderCount = 0;
	me->currEncoderCount = 0;
	me->deltaEncoderCount = 0;
	me->accumEncoderCounts = 0;
	TIM_SetCounter(me->encoderTIM, 0);
	GetEncoderCounts(me);
	EnableEncoder(me);
}
コード例 #2
0
ファイル: Nav.c プロジェクト: RAS-MoFos/Rasware2012
void arc_old(int radius, int degree) {
	long l = 0, r = 0, avg = 0;//ol = 0, ort = 0;
	PresetEncoderCounts(0,0);
	//long long break_val = epr * radius * degree * 314;
	UARTprintf("Hello, arc!\n");
	//UARTprintf("%10d\n",break_val);
	UARTprintf("%10d\n",BOT_WIDTH);
	if (ABS(radius) < BOT_WIDTH/2)
		return;
	while(epr * radius * degree > 360 * WHEEL_RAD * avg)
	{
		GetEncoderCounts(&l,&r);
		//pid(radius+BOT_WIDTH>>1,radius-BOT_WIDTH>>1);
		avg = (l+r)>>1;
		UARTprintf("Average: %10d %10d %10d %10d",(radius + BOT_WIDTH>>1),(radius - BOT_WIDTH>>1),epr * radius * degree,360*WHEEL_RAD*avg);
		//ol = l; ort = r;
	}
}
コード例 #3
0
ファイル: Nav.c プロジェクト: RAS-MoFos/Rasware2012
void rotate_enc(int degree) {
	int ldiff = 0, rdiff = 0;
	long l = 0, r = 0, count = 0;//oldl = 0, oldr = 0, 
	long break_val = (BOT_WIDTH * ABS(degree)) * (epr/(WHEEL_RAD*180));
	PresetEncoderCounts(0,0);
	if (degree > 0) SetMotorPowers(80,-80);
	else SetMotorPowers(-80,80);
	while (count * 4 < break_val)
	{
		GetEncoderCounts(&l, &r);
		ldiff = (l>r)?0:r-l;
		rdiff = (r>l)?0:l-r;
		SetMotorPowers(127-ldiff,-128+rdiff);
		count = (ABS(l)+ABS(r))/2;
		UARTprintf("Count: %10d %10d\r",count,break_val);
		//oldl = l; oldr = r;
		WaitUS(1000);
	}
}
コード例 #4
0
ファイル: EncoderDemo.c プロジェクト: jiyinjie/Rasware2012
void encoderDemo(void) {
	UARTprintf("Press:\nany key-read encoder values\n");
	UARTprintf("any key after read begins-quit\n");
	
	{
		signed long encoder0, encoder1, counter = 0;
		PresetEncoderCounts(0, 0);

		while(!keyWasPressed()) {	  
			encoder0 = GetEncoderCount(ENCODER_0);	 
			encoder1 = GetEncoderCount(ENCODER_1);
			GetEncoderCounts(&encoder0, &encoder1);
			UARTprintf("enc0:%d  enc1:%d      \r",encoder0,encoder1);
			counter++;
		}
	}

	UARTprintf("\n");
}
コード例 #5
0
ファイル: Nav.c プロジェクト: RAS-MoFos/Rasware2012
void move_enc(int distance) {
	long enc0 = 0, enc1 = 0;
	long oldr = 0, oldl = 0, count = 0;
	long break_val = distance * epr /WHEEL_CIRC;
	PresetEncoderCounts(0,0);
	
	SetMotorPowers(127,127);
	while(count < break_val)
	{
		GetEncoderCounts(&enc0, &enc1);
		pid((enc0-oldr),(enc1-oldl));
		oldr = enc0;
		oldl = enc1;
		count = (enc0 + enc1)/2;
		//UARTprintf("Count: %10d %10d\r",WHEEL_CIRC*count,distance*epr);
		//WaitUS(100);
	}
	SetMotorPowers(0,0);
	return;
}
コード例 #6
0
ファイル: Nav.c プロジェクト: RAS-MoFos/Rasware2012
void arc(int radius, int degree) {
	long l = 0, r = 0, avg = 0;//, ol = 0, ort = 0;
	long long break_val = 0;
	PresetEncoderCounts(0,0);
	break_val = (epr * ABS(radius));
	UARTprintf("Rad: %3d %d\n",ABS(radius),break_val);
	//if (ABS(radius) < BOT_WIDTH/2)
	//	return;
	while(break_val > WHEEL_RAD * avg * 180 * degree)
	{
		GetEncoderCounts(&l,&r);
		//pid(radius+BOT_WIDTH,radius-BOT_WIDTH);
		//pid(radius,BOT_WIDTH);
		SetMotorPowers(MEDIAN(0,127,127 * (radius - BOT_WIDTH/2) / (radius + BOT_WIDTH/2)),
				MEDIAN(0,127,127*(radius + BOT_WIDTH/2) / (radius - BOT_WIDTH/2)));
		avg = (l+r)/2;
		UARTprintf("Compare: %10d %10d Powers2: %5d %5d\r",break_val, WHEEL_RAD * avg * degree, 
			127*(radius + BOT_WIDTH/2) / (radius - BOT_WIDTH/2),127*(radius - BOT_WIDTH/2) / (radius + BOT_WIDTH/2));
		//UARTprintf("Average: %10d %10d\r",(radius + BOT_WIDTH>>1),(radius - BOT_WIDTH>>1));
		//ol = l; ort = r;
	}
	SetMotorPowers(0,0);
}