Quick Start
Using the Motor Control Wildcard with the Mosaic PDQ Board or QCard Controller

WMCH Demo

  1: // This is a demonstration program for the Motor Control Wildcard.
  2:
  3: // Copyright 2014 Mosaic Industries, Inc.
  4: //  Disclaimer: THIS SOFTWARE IS PROVIDED ON AN "AS IS" BASIS, WITHOUT ANY
  5: //  WARRANTIES OR REPRESENTATIONS EXPRESS OR IMPLIED, INCLUDING, BUT NOT
  6: //  LIMITED TO, ANY IMPLIED WARRANTIES OF MERCHANTABILITY OR FITNESS
  7: //  FOR A PARTICULAR PURPOSE.
  8:
  9: #include  <mosaic\allqed.h>    // include the standard library functions
 10:
 11: #ifdef _MOSAIC_LITE
 12: #error "The PDQ Board Lite does not support addressable Wildcards, so this demo is not applicable.  Go to Project -> Project Compiler Options and select the kernel version without the 'L' suffix to compile for the full PDQ Board."
 13: #endif
 14:
 15: #ifdef __GNUC__
 16: #include <wmch.h>
 17: #else
 18: #include "library.h"
 19: #include "library.c"
 20: #endif
 21:
 22:
 23:
 24: unsigned char modulenum = '\xff';
 25:
 26:
 27:
 28: unsigned char Get_User_Modulenum()
 29: {
 30:     unsigned char result;
 31:
 32: #ifdef __GNUC__
 33:     // Disable libc output buffering, which causes unexpected behavior on embedded systems.
 34:     // If I/O buffering would benefit your application, see the Queued Serial demo.
 35:     setbuf( stdout, NULL );
 36: #endif
 37:
 38:     printf( "\nEnter the module number of the Motor Control Wildcard\n"
 39:             "( With J1 and J2 *not* installed, the module number is 0\n"
 40:             "  if the Wildcard is installed on top of a QCard or on\n"
 41:             "  Module Port 0 of a Docking Panel or PDQ Board ) [0-7]: " );
 42:
 43:     // Module numbers are 0 - 7, meaning only the lower three bits are used,
 44:     // and all combinations of the lower three bits are valid module numbers.
 45:     // ( The reason for this is the selection of Module Port 0 or 1, plus J1
 46:     //   and J2 jumpers on each board, comprises three bits of information. )
 47:     // This makes checking for valid module numbers very straightforward.
 48:     do result = Key() - '0';
 49:     while( result & '\xf8' );
 50:
 51:     Emit( result + '0' );
 52:     Emit( '\n' );
 53:
 54:     return result;
 55: }
 56:
 57: _Q void Help( void )
 58: {
 59: #ifdef __GNUC__
 60:     // Disable libc output buffering, which causes unexpected behavior on embedded systems.
 61:     // If I/O buffering would benefit your application, see the Queued Serial demo.
 62:     setbuf( stdout, NULL );
 63: #endif
 64:
 65:     printf( "\nOther functions defined with _Q and executable at the command line\n"
 66:             "include (note you must enter a space after the open parenthesis):\n"
 67:             "  MSTOP( )   --  Brake motor, both outputs low.\n" );
 68:     printf( "  MCOAST( )  --  Both outputs disabled, motor coasts.\n"
 69:             "  MCW( N )   --  Spin motor clockwise.\n"
 70:             "  MCCW( N )  --  Spin motor counter-clockwise.\n"
 71:             "where N is a number from 0 to 31 indicating PWM duty cycle\n" );
 72:     printf( "without feedback from an optical encoder, or indicating fraction\n"
 73:             "of full speed if an optical encoder is used for closed-loop feedback\n"
 74:             "and the PI control jumper J3 is installed.\n" );
 75: }
 76:
 77:
 78:
 79: _Q void MStop( void )
 80: {
 81:     if( modulenum & '\xf8' ) modulenum = Get_User_Modulenum();
 82:     To_Motor( MOTOR_DIR_BRAKE_L, MOTOR_DECAY_SLOW, 0, modulenum );
 83: }
 84:
 85: _Q void MCoast( void )
 86: {
 87:     if( modulenum & '\xf8' ) modulenum = Get_User_Modulenum();
 88:     To_Motor( MOTOR_DIR_COAST, 0, 0, modulenum );
 89: }
 90:
 91: _Q void MCW( int duty_cycle )
 92: {
 93:     if( modulenum & '\xf8' ) modulenum = Get_User_Modulenum();
 94:     To_Motor( MOTOR_DIR_CW, MOTOR_DECAY_SLOW, duty_cycle, modulenum );
 95: }
 96:
 97: _Q void MCCW( int duty_cycle )
 98: {
 99:     if( modulenum & '\xf8' ) modulenum = Get_User_Modulenum();
100:     To_Motor( MOTOR_DIR_CCW, MOTOR_DECAY_SLOW, duty_cycle, modulenum );
101: }
102:
103:
104:
105: int main( void )
106: {
107:     // Loop conditions below require that i be signed.
108:     int i;
109:
110: #ifdef __GNUC__
111:     // Disable libc output buffering, which causes unexpected behavior on embedded systems.
112:     // If I/O buffering would benefit your application, see the Queued Serial demo.
113:     setbuf( stdout, NULL );
114: #endif
115:
116:     modulenum = Get_User_Modulenum();
117:
118:     printf( "\nTurning motor clockwise.\n" );
119:
120:     for( i = 0; i <= MOTOR_PWM_MAX; ++i )
121:     {
122:         MOTOR_ON_CW( i, modulenum );
123:         MicrosecDelay( 62500u );
124:     }
125:
126:     for( i = MOTOR_PWM_MAX; i >= 0; --i )
127:     {
128:         MOTOR_ON_CW( i, modulenum );
129:         MicrosecDelay( 62500u );
130:     }
131:
132:     MOTOR_STOP( modulenum );
133:     MicrosecDelay( 62500u );
134:
135:     printf( "\nTurning motor counter-clockwise.\n" );
136:
137:     for( i = 0; i <= MOTOR_PWM_MAX; ++i )
138:     {
139:         MOTOR_ON_CCW( i, modulenum );
140:         MicrosecDelay( 62500u );
141:     }
142:
143:     for( i = MOTOR_PWM_MAX; i >= 0; --i )
144:     {
145:         MOTOR_ON_CCW( i, modulenum );
146:         MicrosecDelay( 62500u );
147:     }
148:
149:     MOTOR_COAST( modulenum );
150:
151:     Help();
152:
153:     return 0;
154: }