Using C++ to implement motion control and position detection functions of embedded systems

Use C to realize the motion control and position detection functions of embedded systems

In embedded systems, motion control and position detection are one of the common functional requirements. This article introduces how to use C language to implement this function and gives corresponding code examples.

1. Motion control

Motion control in embedded systems generally involves controlling the rotation or movement of motors or actuators. We can control the motor by controlling levels, PWM signals or stepper motor drivers. The following is a code example that uses C language to control motor rotation:

#include <iostream>

int main()
{
    // 初始化控制引脚
    int controlPin1 = 5;
    int controlPin2 = 6;

    // 初始化PWM输出引脚
    int pwmPin = 9;

    // 设置引脚为输出模式
    pinMode(controlPin1, OUTPUT);
    pinMode(controlPin2, OUTPUT);
    pinMode(pwmPin, OUTPUT);

    // 设置电机转动方向（此处假设顺时针为正转）
    digitalWrite(controlPin1, HIGH);
    digitalWrite(controlPin2, LOW);

    // 设置PWM输出占空比
    analogWrite(pwmPin, 255);

    // 停留一段时间后停止电机转动
    delay(5000);

    // 停止电机转动
    digitalWrite(pwmPin, LOW);

    return 0;
}

In the above code, we control the rotation of the motor by setting the level of the control pin and the duty cycle of the PWM output pin.

2. Position detection

Position detection in embedded systems is generally implemented through sensors, such as encoders, photoelectric sensors, gyroscopes, etc. The following is a code example using C language to implement position detection, taking the encoder as an example:

#include <iostream>

int main()
{
    // 初始化编码器引脚
    int encoderPinA = 2;
    int encoderPinB = 3;
  
    // 设置引脚为输入模式
    pinMode(encoderPinA, INPUT);
    pinMode(encoderPinB, INPUT);
  
    // 初始化变量记录编码器状态
    int lastEncoderA = LOW;
    int currentEncoderA = LOW;
  
    long position = 0; // 记录位置
  
    while(1)
    {
        // 读取编码器A相引脚的状态
        currentEncoderA = digitalRead(encoderPinA);
   
        // 检测A相引脚的状态变化
        if(currentEncoderA != lastEncoderA)
        {
            // 如果A相引脚变为高电平，则检测B相引脚的状态
            if(currentEncoderA == HIGH && digitalRead(encoderPinB) == LOW)
            {
                position++;
            }
            // 如果A相引脚变为低电平，则检测B相引脚的状态
            else if(currentEncoderA == LOW && digitalRead(encoderPinB) == HIGH)
            {
                position--;
            }
        }
    
        lastEncoderA = currentEncoderA;
    
        // 每隔一段时间打印位置信息
        delay(100);
        std::cout<<"Current position: "<<position<<std::endl;
    }

    return 0;
}

In the above code, we read the status of the A-phase pin of the encoder and compare the status of the B-phase pin. Locate the encoder.

Using C language to implement the motion control and position detection functions of the embedded system can easily control the rotation of the motor and obtain position information. The above code examples are simplified examples and need to be modified and adjusted according to specific hardware and requirements in actual applications.

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