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Dependencies: Encoder HIDScope MODSERIAL TouchButton mbed-dsp mbed
Revision 2:455216d1b5ba, committed 2014-10-30
- Comitter:
- Tanja2211
- Date:
- Thu Oct 30 14:05:36 2014 +0000
- Parent:
- 1:5d30a2ea2e11
- Child:
- 3:68b364036bc8
- Commit message:
- gaat heen en terug en stopt niet
Changed in this revision
| TouchButton.lib | Show annotated file Show diff for this revision Revisions of this file |
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/TouchButton.lib Thu Oct 30 13:18:42 2014 +0000 +++ b/TouchButton.lib Thu Oct 30 14:05:36 2014 +0000 @@ -1,1 +1,1 @@ -http://developer.mbed.org/teams/BMT-M9-Groep01/code/TouchButton/#6153458ce46b +http://developer.mbed.org/teams/BMT-M9-Groep01/code/TouchButton/#956d0575205b
--- a/main.cpp Thu Oct 30 13:18:42 2014 +0000
+++ b/main.cpp Thu Oct 30 14:05:36 2014 +0000
@@ -611,8 +611,9 @@
void motor1aansturing()
{
- if (motor1.getPosition()<= ANGLEMIN && toestand != SLAAN) {
+ if (abs(motor1.getPosition())<= ANGLEMIN && toestand != SLAAN) {
toestand = WACHTEN;
+ pc.printf("if1\n");
}
if (snelheidsstand != 0 && toestand == WACHTEN && stop == 0) { // stop = 0 in het begin let op dat dit na reset nog zo is
toestand = SLAAN;
@@ -634,16 +635,20 @@
}
if (toestand == TERUGKEREN) {
pc.printf("motor gaat terugkeren\n\r");
- new_pwm = pid(Vreturn, motor1.getSpeed());
- pwm_motor1.write(new_pwm);
+ //pid(Vreturn, motor1.getSpeed());
+ pwm_motor1.write(0.5);
+ pc.printf("new pwm %f\r\n",new_pwm);
motordir1 = 0;
}
if (toestand == WACHTEN) {
pwm_motor1.write(0);
+ pc.printf("ifwachten\n");
}
if (toestand == SLAAN) {
new_pwm = pid(setspeed, motor1.getSpeed());
motordir1 = 1;
pwm_motor1.write(new_pwm);
+ pc.printf("SLAAN\n");
+
}
}
\ No newline at end of file