Revision 35:a05bef8dd995, committed 2018-04-24

Comitter:

leogrotti

Date:

Tue Apr 24 15:09:16 2018 +0000

Parent:

34:098efd69c86d

Child:

36:0cd4fdbb40af

Commit message:

2 motores + joystick com get_speed

Changed in this revision

--- a/main.cpp	Tue Apr 24 14:26:11 2018 +0000
+++ b/main.cpp	Tue Apr 24 15:09:16 2018 +0000
@@ -63,7 +63,7 @@
    In Full Step mode: 1 pps = 1 step/s).
    In 1/N Step Mode:  N pps = 1 step/s). */
 #define SPEED_1 1300
-#define SPEED_2 1200
+#define SPEED_2 1300
 
 
 
@@ -107,12 +107,14 @@
 float w;
 float u;
 
+
+
 unsigned int minspeed = 1300;
 
 //int step = 0x08;
 
-int speed1;
-int speed2;
+unsigned int speed1;
+unsigned int speed2;
 
 
 /* Motor Control Component. */
@@ -139,35 +141,12 @@
         exit(EXIT_FAILURE);
     }
 
-    /* Printing to the console. */
-   // printf("Motor Control Application Example for 2 Motors\r\n\n");
-
-
-    /*----- Moving. -----*/
-
-    /* Printing to the console. */
-    //printf("--> Moving forward: M1 %d steps, M2 %d steps.\r\n", STEPS >> 1, STEPS);
-
-    /* Moving N steps in the forward direction. */
-    //motor1->move(StepperMotor::FWD, STEPS >> 1);
-    //motor2->move(StepperMotor::FWD, STEPS);
+ 
 
-    /* Waiting while the motor is active. */
-    //motor1->wait_while_active();
-   // motor2->wait_while_active();
-
-    /* Getting current position. */
-  //  int position1 = motor1->get_position();
-  //  int position2 = motor2->get_position();
-    
-    /* Printing to the console. */
-  //  printf("    Position: M1 %d, M2 %d.\r\n", position1, position2);
-
-    /* Waiting 2 seconds. */
-   // wait_ms(DELAY_1);
-
-    
-    /*----- Moving. -----*/
+        /*motor1->set_acceleration(160);
+        motor2->set_acceleration(160);
+        motor1->set_max_speed(speed1);
+        motor2->set_max_speed(speed2);*/
 
 
     while(true) {
@@ -178,11 +157,15 @@
   //      pc.printf ("X:   %f \r\n",u);
   //      pc.printf ("Y:    %f  \r\n",w);
   
+
+
+  
         if (u>0.740) {
 
            motor1->run(StepperMotor::FWD);
            speed1 = motor1->get_speed();
            
+            printf("speed1 =%d \r\n\n", speed1);
             printf("U =%f \r\n\n", u);
 
            }
@@ -191,11 +174,15 @@
                 motor1->run(StepperMotor::BWD);
                 speed1 = motor1->get_speed();
                 
+                printf("speed1 =%d \r\n\n", speed1);
+                
                 printf("U =%f \r\n\n", u);
 
                 }
                else 
                motor1->hard_stop();
+                speed1 = 0;
+                printf("speed1 =%d \r\n\n", speed1);
                
                 printf("U =%f \r\n\n", u);
 
@@ -205,6 +192,8 @@
            
             motor2->run(StepperMotor::BWD);
            speed2 = motor2->get_speed();
+           
+            printf("speed2 =%d \r\n\n", speed2);
             printf("W =%f \r\n\n", w);
 
            }
@@ -212,13 +201,17 @@
     
            
                 motor2->run(StepperMotor::FWD);
-                speed2 = motor1->get_speed();
-                 printf("W =%f \r\n\n", w);
+                speed2 = motor2->get_speed();
+                
+                printf("speed2 =%d \r\n\n", speed2);
+                printf("W =%f \r\n\n", w);
  
                }
                 else
                 motor2->hard_stop();
-                 printf("W =%f \r\n\n", w);
+                speed2 = 0;
+                printf("speed2 =%d \r\n\n", speed2);
+                printf("W =%f \r\n\n", w);
 
                }
     }