实例介绍
【实例简介】
AQMD3620NS-A直流电机驱动器有多种控制方式,包括模拟信号输入和485控制。这里主要采用485通信接口。
【实例截图】【核心代码】
#include <stdio.h> #include <stdlib.h> #include <errno.h> #include <termios.h> #include <unistd.h> #include <fcntl.h> #include <string.h> #include <math.h> #include <ctime> #include<pthread.h>//多线程 #include<fstream>//speed data output #include "AQMD3620NS-A.h" #include "serialport.h" #include "odometer.h" extern int stop_all_program =0; extern short speed=0; extern int motor_address; pthread_mutex_t stop_all_program_mutex;//互斥锁,encoder每次循环时要判断stop_all_programe的值,为1时终止线程 pthread_mutex_t speed_mutex; void *encoder_thread(void* args ){ float revolution=3.74587458;//every 3.7458 of encoder number is 1mm float T=0.5;//T的单位是秒,这里表示每500ms循环一次,读取编码器的计数器的数值。 int encoder = open ("/dev/ttyUSB1", O_RDWR | O_NOCTTY | O_SYNC); int motor_address; if (encoder < 0) { printf("error opening the device1\n"); } /*CHANGES*/ if(set_interface_attribs(encoder, B9600, 0,1)!=0) { printf("hello"); printf("error set interface1\n"); } else if(set_blocking(encoder, 0)!=0) { printf("error set blocking1\n"); } else printf("done"); if( set_interface_attribs (encoder, B9600, 0,1) ) { // then set_interface_attribs failed return NULL; } // implied else set_interface_attribs successful if( set_blocking (encoder, 0) ) // set no blocking { // then set_blocking failed return NULL; // might need to also restore oldtty attributes } // implied else, set_blocking successful char receivebuffer [20]; // implied else, read successful //initialize parameter unsigned char A5A5[2];A5A5[0]=0xA5;A5A5[1]=0xA5; int old_data=0;int new_data=0;int32_t delta1; float delta; class odometer encoder001; unsigned char var[4];//for saving 4bytes raw data std::ofstream speed_data("speed_data.txt",std::ios::out);//open a file named"speed_record.txt" to record the encoder data. if(!speed_data){ std::cout<<"Creat speed_data.txt error!"<<std::endl; } write (encoder,A5A5 , 2); usleep (3000); clock_t start;//用于后面循环的定时,使得刷新周期稳定保持在10ms double duration; short protection_count;//protect the car if the odometer broke down. pthread_mutex_lock(&stop_all_program_mutex); while(stop_all_program ==0){ start = clock();//起始时间 pthread_mutex_unlock(&stop_all_program_mutex); if( 6> read (encoder, receivebuffer, sizeof receivebuffer) ){ // then read failed return NULL; } /*printf("value of buffer is %2d %2d %2d %2d %2d %2d \n\n", receivebuffer[0], receivebuffer[1], receivebuffer[2], receivebuffer[3], receivebuffer[4], receivebuffer[5] );*/ //here is test output,output like E1 9B FE FF FF 79 for(int i=0;i<4;i ){ var[i]=receivebuffer[i 1]; } write (encoder,A5A5 , 2); old_data=new_data; if(receivebuffer[5]!=receivebuffer[0] receivebuffer[1] receivebuffer[2] receivebuffer[3] receivebuffer[4]){ continue; } new_data=(var[3]<<24)|(var[2]<<16)|(var[1]<<8)|(var[0]); //Following is the main part to record the distance the car moved in the duration T. delta1=(new_data-old_data)*(-1);//our odometer is not properly installed, it decrease when move forward. delta=delta1; //protection module begin if(speed!=0 and abs(delta1)<2 ){ protection_count ; } else{protection_count=0;}//如果连续4次里程计显示速度不为0,但速度为0,可能是编码器皮带断裂或者小车撞上了,此时立刻停止电机并输出警报。 if(protection_count>3){ pthread_mutex_lock(&stop_all_program_mutex); stop_all_program=1; std::cout<<"speed data is abnormal!Stop the car and check out!!"<<std::endl; set_speed(motor_address,0); usleep(2*1000000); break; } //protection module end encoder001.odo_add_mm(delta/revolution); std::cout<<"Odometer show speed is"<<delta/revolution/T/1000<<"m/s"<<std::endl;//10ms=0.01s encoder001.odo_print(); speed_data<<start<<" "<<delta/revolution/T<<std::endl; duration = ( clock() - start ) / (double) CLOCKS_PER_SEC;//一次循环计算所花费的时间 usleep(T*1000000-duration*1000000);//等待满10ms pthread_mutex_lock(&stop_all_program_mutex); } pthread_mutex_unlock(&stop_all_program_mutex); // cleanup tcsetattr (encoder, TCSANOW, &oldtty); speed_data.close(); } int main() { pthread_t odo; /*-------------------------------motor programe-------------------------------------------*/ int motor = open ("/dev/ttyUSB0", O_RDWR | O_NOCTTY | O_NDELAY); std::cout<<"motor connecting"<<std::endl; int motor_address=motor;//用来把电机参数传递给里程计线程 pthread_create(&odo,NULL,encoder_thread,NULL);//开启里程计线程 if (motor < 0) {pthread_mutex_lock(&stop_all_program_mutex); printf("error opening the device0\n"); } if(set_interface_attribs(motor, B9600, 0,2)!=0)//此处有修改,stopbit is 2bit { printf("hello"); printf("error set interface0\n"); } else if(set_blocking(motor, 0)!=0) { printf("error set blocking0\n"); } else printf("done\n"); if( set_interface_attribs (motor, B9600, 0,2) ) { // then set_interface_attribs failed return -1; } // implied else set_interface_attribs successful if( set_blocking (motor, 0) ) // set no blocking { // then set_blocking failed return -1; // might need to also restore oldtty attributes } // implied else, set_blocking successful //Following are main part of the programe,type 'j' to speed up;type 'k' to speed down;type an integer between -2000~2000 to set speed straightly. //To make the motor stop, you can type in any word except ‘j' 'k' and number. For example, 'p' or '$%*&gkjfd' or only a whitespace. //You can type in "exit" to exit. std::cout<<"input an integer to set initial speed,input 'j' to speed up;'k' to speed down;\n \"exit\" to exit;any other input will stop."<<std::endl; char adjust_in[10];//get user's input and analysis it //while(1){ //std::cout<<"input an integer to set initial speed,input 'j' to speed up;'k' to speed down;\n \"exit\" to exit;any other input will stop."<<std::endl; //char adjust_in[10]; //int speed=0; while(1){ std::cin>>adjust_in; //printf("input is %s \n",adjust_in); if (adjust_in[0]=='j'){ pthread_mutex_lock(&speed_mutex); speed ; pthread_mutex_unlock(&speed_mutex); printf("speed is %d\n",speed); } else if(adjust_in[0]=='k'){ pthread_mutex_lock(&speed_mutex); speed--; pthread_mutex_unlock(&speed_mutex); printf("speed is %d\n",speed);} else if(0==strcmp(adjust_in,"exit")){break;} else if((adjust_in[0]>='0' and adjust_in[0]<='9' ) or adjust_in[0]=='-'){ sscanf(adjust_in,"%d",&speed); printf("set speed %d\n",speed); } else{ pthread_mutex_lock(&speed_mutex); speed=0; pthread_mutex_unlock(&speed_mutex); std::cout<<"the motor has stopped\n"<<std::endl; } set_speed(motor,-speed); usleep(3000); } //clean up set_speed(motor,0); pthread_mutex_lock(&stop_all_program_mutex); stop_all_program=1; pthread_mutex_unlock(&stop_all_program_mutex); pthread_join(odo,NULL);//wait odometer to close the serial port //close the serial port of motor tcsetattr (motor, TCSANOW, &oldtty); return 0; //} }
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