Diff: main.cpp

Revision:

2:638c6155d0af

Parent:

1:2219a519e2bf

Child:

3:d16182dd3a2a

--- a/main.cpp	Thu Nov 01 19:24:28 2018 +0000
+++ b/main.cpp	Thu Nov 01 19:50:29 2018 +0000
@@ -8,7 +8,7 @@
 DigitalOut motor1Direction(D7);
 DigitalOut motor2Direction(D4);
 DigitalOut Led(LED_GREEN);
-DigitalIn button2(SW3);
+DigitalIn button2(SW3); //dit is nog button op mbed bor
 FastPWM motor1PWM(D6);
 FastPWM motor2PWM(D5);
 AnalogIn potMeter1(A4);
@@ -17,8 +17,7 @@
 QEI Encoder2 (D10, D11, NC, 64, QEI::X4_ENCODING);
 
 // Tickers
-Ticker startMotor;
-Ticker printTicker;
+Ticker potmeterTicker;
 
 //------------------------------------------------------------------------------
 //Global Variables
@@ -43,7 +42,7 @@
 
 // Motor Control
 volatile double potMeterPosition1 = 0.0;
-volatile double potMeterPosition2 = 0.0;
+//volatile double potMeterPosition2 = 0.0;
 volatile double motorValue1 = 0.01;
 volatile double motorValue2 = 0.01;
 volatile double Kp = 0.34; //dit maken we variabel, dit zorgt voor een grote of kleine overshoot
@@ -54,11 +53,12 @@
 
 //------------------------------------------------------------------------------
 // Potmeter values TO DETERMINE VX_DES, VY_DES
-double GetPotMeterVelocity1()  //Potmeter standard to control X-DIRECTION
+void GetPotMeterVelocity1()  //Potmeter standard to control X-DIRECTION
 {
     double potMeter1In = potMeter1.read();
-    vx_des = 0.5*3.14*potMeter1In - 0.25*3.14 ; // Reference value y, scaled to -0.25 to 0.25 revolutions
-    return vx_des;
+    //vx_des = 0.5*3.14*potMeter1In - 0.25*3.14 ; // Reference value y, scaled to -0.25 to 0.25 revolutions
+    vx_des = 3.7;
+    //return vx_des;
 }
 
 double SwitchPotmeterVelocity1() {  //Button has been pressed,
@@ -223,7 +223,7 @@
     // This function determines the desired velocity, measures the
     // actual velocity, and controls the motor with
     // a simple Feedback controller. Call this from a Ticker.
-    potMeterPosition1 = q1;
+    MeterPosition1 = q1;
     currentPosition1 = MeasureEncoderPosition1();
     motorValue1 = FeedbackControl1(potMeterPosition1 - currentPosition1);
     SetMotor1(motorValue1);
@@ -245,6 +245,7 @@
 int main()
 {
     pc.baud(115200);
+    potmeterTicker.attach(GetPotMeterVelocity1, 0.01);
     
     while (true) {
         currentPosition1 = MeasureEncoderPosition1();   // You want to know the current angle of the motors to get the right Jacobian
@@ -277,7 +278,8 @@
         SetMotor2(motorValue2);
 
         // Press button to switch velocity direction
-        if (!button2.read()) {
+        //if (!button2.read()) {
+        if (!button2.read()) { //button2 blijven indrukken
             //SwitchPotmeterVelocity1();
             vy_des=vx_des;
             vx_des=0;