werkende PID, int/double probleem met encoder opgelost.
Dependencies: HIDScope MODSERIAL QEI biquadFilter mbed
Fork of frdm_Motor_V2_3 by
main.cpp@1:48aba8d5610a, 2015-09-28 (annotated)
- Committer:
- Rvs94
- Date:
- Mon Sep 28 10:49:56 2015 +0000
- Revision:
- 1:48aba8d5610a
- Parent:
- 0:284ed397e046
- Child:
- 2:099da0fc31b6
Aantal Degs ook in HIDScope gekregen. fundering voor totaal script is gelegd
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Margreeth95 | 0:284ed397e046 | 1 | #include "mbed.h" |
Margreeth95 | 0:284ed397e046 | 2 | #include "MODSERIAL.h" |
Margreeth95 | 0:284ed397e046 | 3 | #include "HIDScope.h" |
Margreeth95 | 0:284ed397e046 | 4 | #include "QEI.h" |
Margreeth95 | 0:284ed397e046 | 5 | |
Margreeth95 | 0:284ed397e046 | 6 | Serial pc(USBTX, USBRX); // tx, rx |
Margreeth95 | 0:284ed397e046 | 7 | DigitalOut led(LED_RED); |
Margreeth95 | 0:284ed397e046 | 8 | DigitalOut motor2direction(D4); //D4 en D5 zijn motor 2 (op het motorshield) |
Margreeth95 | 0:284ed397e046 | 9 | PwmOut motor2speed(D5); |
Margreeth95 | 0:284ed397e046 | 10 | DigitalIn button1(SW3); |
Margreeth95 | 0:284ed397e046 | 11 | DigitalIn EncoderA(D3); |
Margreeth95 | 0:284ed397e046 | 12 | DigitalIn EncoderB(D2); |
Rvs94 | 1:48aba8d5610a | 13 | QEI Encoder(D3, D2, NC, 32); |
Rvs94 | 1:48aba8d5610a | 14 | HIDScope scope(3); |
Margreeth95 | 0:284ed397e046 | 15 | Ticker ScopeTime; |
Rvs94 | 1:48aba8d5610a | 16 | float Aantal_Degs; |
Rvs94 | 1:48aba8d5610a | 17 | float Aantal_pulses; |
Margreeth95 | 0:284ed397e046 | 18 | |
Margreeth95 | 0:284ed397e046 | 19 | void ScopeSend()//Functie die de gegevens voor de scope uitleest en doorstuurt |
Margreeth95 | 0:284ed397e046 | 20 | { |
Margreeth95 | 0:284ed397e046 | 21 | scope.set(0, motor2direction.read()); |
Margreeth95 | 0:284ed397e046 | 22 | scope.set(1, motor2speed.read()); |
Rvs94 | 1:48aba8d5610a | 23 | scope.set(2, Aantal_Degs); |
Rvs94 | 1:48aba8d5610a | 24 | Aantal_Degs = Encoder.getPulses()*360/31/131; |
Margreeth95 | 0:284ed397e046 | 25 | scope.send(); |
Rvs94 | 1:48aba8d5610a | 26 | |
Margreeth95 | 0:284ed397e046 | 27 | } |
Margreeth95 | 0:284ed397e046 | 28 | |
Margreeth95 | 0:284ed397e046 | 29 | int main() |
Margreeth95 | 0:284ed397e046 | 30 | { |
Margreeth95 | 0:284ed397e046 | 31 | motor2direction = 0; |
Margreeth95 | 0:284ed397e046 | 32 | motor2speed = 0; |
Margreeth95 | 0:284ed397e046 | 33 | led = 1; |
Margreeth95 | 0:284ed397e046 | 34 | pc.baud(115200); |
Margreeth95 | 0:284ed397e046 | 35 | pc.printf("Tot aan loop werkt"); |
Margreeth95 | 0:284ed397e046 | 36 | ScopeTime.attach_us(&ScopeSend, 10e4); |
Margreeth95 | 0:284ed397e046 | 37 | |
Margreeth95 | 0:284ed397e046 | 38 | |
Margreeth95 | 0:284ed397e046 | 39 | while (true) |
Margreeth95 | 0:284ed397e046 | 40 | { |
Rvs94 | 1:48aba8d5610a | 41 | |
Margreeth95 | 0:284ed397e046 | 42 | motor2direction = 1; |
Margreeth95 | 0:284ed397e046 | 43 | motor2speed = 0.5f; |
Rvs94 | 1:48aba8d5610a | 44 | wait(1); |
Rvs94 | 1:48aba8d5610a | 45 | |
Margreeth95 | 0:284ed397e046 | 46 | motor2direction = 0; |
Rvs94 | 1:48aba8d5610a | 47 | motor2speed = 0.5f; |
Rvs94 | 1:48aba8d5610a | 48 | wait(1); |
Margreeth95 | 0:284ed397e046 | 49 | |
Margreeth95 | 0:284ed397e046 | 50 | } |
Margreeth95 | 0:284ed397e046 | 51 | } |