Firmware Training- Rukshi Thiyagayogan

apps/test-aeat-8800/CMakeLists.txt

@@ -2,3 +2,4 @@ add_executable(test-aeat-8800.${TARGET}-board.elf)
 target_sources(test-aeat-8800.${TARGET}-board.elf PRIVATE src/main.cpp)
 target_link_libraries(test-aeat-8800.${TARGET}-board.elf PRIVATE Logger)
 target_set_firmware_properties(test-aeat-8800.${TARGET}-board.elf)
+add_subdirectory(apps/tutorial-servo-pot-control)

apps/tutorial-servo-can-control/CMakeLists.txt

@@ -0,0 +1,15 @@
+add_executable(tutorial-servo-pot-control.${TARGET}-board.elf)
+target_sources(tutorial-servo-pot-control.${TARGET}-board.elf
+PRIVATE src/main.cpp)
+target_set_firmware_properties(tutorial-servo-pot-control.${TARGET}
+-b oard.elf)
+
+add_subdirectory(apps/tutorial-servo-pot-control)
+
+add_library (TutorialServo STATIC)
+target_sources (TutorialServo PRIVATE src/TutorialServo.cpp)
+target_link_libraries (tutorial-servo-can-control. ${TARGET} -board.elf PRIVATE
+TutorialServo
+)
+target_include_directories (TutorialServo PUBLIC include)
+target_set_mbed_dependency (TutorialServo)

apps/tutorial-servo-can-control/TutorialServo.cpp

@@ -0,0 +1,45 @@
+
+#include "mbed.h"
+#include "TutorialServo.h"
+
+#include <iostream>
+using namespace std;
+
+
+TutorialServo::TutorialServo(PinName servoPin, float servoRangeInDegrees = 180.0,
+float minPulsewidthInMs = 1, float maxPulsewidthInMs = 2)
+{
+    //declares this pin as pwm using pwmout.
+    PwmOut servoPwmOut(servoPin);
+
+    //set the PWM period for that pin to 20ms
+    servoPwmOut.period_ms(20);
+
+
+    while(1)
+    {
+        servoPwmOut.pulsewidth_ms(minPulsewidthInMs);
+        servoPwmOut.pulsewidth_ms(maxPulsewidthInMs);
+    }
+}
+
+void TutorialServo::setPositionInDegrees(const float degrees)
+{
+
+    m_servoRangeInDegrees = degrees;
+}
+
+float TutorialServo::getServoRangeInDegrees() const
+{
+    return m_servoRangeInDegrees;
+}
+
+float TutorialServo::getMinPulseWidthInMs() const
+{
+    return m_minPulsewidthInMs;
+}
+
+float TutorialServo::getMaxPulseWidthInMs() const
+{
+    return m_maxPulsewidthInMs;
+}

apps/tutorial-servo-can-control/TutorialServo.h

@@ -0,0 +1,24 @@
+#pragma once
+#include "mbed.h"
+class TutorialServo {
+public :
+// Constructor: Takes a servo pin name (ex. PA_1), and optionally a servo range
+// that has a default value of 180.0 degrees, a minimum pulsewidth of 1ms, and a
+// maximum pulsewidth of 2ms.
+
+TutorialServo(PinName servoPin, float servoRangeInDegrees = 180.0,
+float minPulsewidthInMs = 1, float maxPulsewidthInMs = 2) ;
+// Set servo position (ex. 45 deg)
+void setPositionInDegrees( const float degrees) ;
+// Get the servo range in degrees (ex: 90 deg)
+float getServoRangeInDegrees( ) const ;
+// Get the min pulse width in ms (ex: 1ms)
+float getMinPulseWidthInMs( ) const ;
+// Get the max pulse width in ms (ex: 2ms)
+float getMaxPulseWidthInMs( ) const ;
+private :
+PwmOut m_servoPwmOut ;
+const float m_servoRangeInDegrees ;
+const float m_minPulsewidthInMs;
+const float m_maxPulsewidthInMs;
+} ;

apps/tutorial-servo-can-control/main.cpp

@@ -0,0 +1,26 @@
+#include "TutorialServo.h"
+#include "CANBus.h"
+#include "CANMsg.h"
+#include "mbed.h"
+
+int main()
+{
+    CANBus can(CAN1_RX, CAN1_TX, HWBRIDGE::ROVERCONFIG::ROVER_CANBUS_FREQUENCY);
+    CANMsg rxMsg;
+    float rangeOfMotion = NULL;
+
+    //listens on can for any incoming can messages and if any places into rxMsg object
+    while(true)
+    {
+        if(can.read(rxMsg))
+        {
+            rxMsg.getPayload(rangeOfMotion);
+        }
+    }
+
+    TutorialServo servoObject;
+    //controls the servo using float value stored in CAN message.
+    servoObject TutorialServo(PA_1, rangeOfMotion);
+
+}
+

apps/tutorial-servo-pot-control/src/CMakeLists.txt

@@ -0,0 +1,6 @@
+
+//letting cmake know how our app is compiled.
+add_executable(tutorial-servo-pot-control.${TARGET}-board.elf)
+target_sources(tutorial-servo-pot-control.${TARGET}-board.elf
+PRIVATE src/main.cpp)
+target_set_firmware_properties(tutorial-servo-pot-control.${TARGET}

apps/tutorial-servo-pot-control/src/main.cpp

@@ -0,0 +1,18 @@
+#include "mbed.h"
+
+//initilaize potentiometer voltage input on pin PA_0
+AnalogIn potVoltageIn(PA_0);
+PwmOut servoPwmOut(PA_1);
+
+int main() {
+
+//loop runs infinitely.
+    while(1){
+        //sets pulse width modulation period to 20ms(50hz)
+        servoPwmOut.period_ms(20);
+
+        float potVoltage = potVoltageIn.read(); 
+        servoPwmOut.pulsewidth_ms(1 + potVoltage/3.3);
+    }
+
+}

supported_build_configurations.yaml

@@ -92,3 +92,7 @@ test-quadrature64cpr:
 
 test-watchdog:
   - nucleo
+
+
+tutorial-servo-pot-control:
+- nucleo