Motor control, feedback, PI controller, BiQuad filter
Dependencies: FastPWM HIDScope MODSERIAL biquadFilter mbed QEI
main.cpp
- Committer:
- 1856413
- Date:
- 2018-10-15
- Revision:
- 1:c19fc63d555f
- Parent:
- 0:2e33035d4e86
- Child:
- 2:34c14fb36b5d
File content as of revision 1:c19fc63d555f:
#include "mbed.h" #include "FastPWM.h" // FastPWM library //#include "MODSERIAL.h" //MODSERIAL pc(USBTX, USBRX); DigitalOut motor1_direction(D7); AnalogIn pot1(A4); InterruptIn but2(D3); FastPWM motor1_pwm(D6); //FastPWM input, PES lecture 2 Ticker MotorInterrupt; void Motor() { // Aflezen Potentiometers voor PWM motor1_pwm = pot1.read(); // Aflezen PotMeter 1 (volatile omdat je altijd de potmeter wil blijven lezen) } void buttonpress() { motor1_direction = 1 - motor1_direction; } int main() { motor1_pwm.period_us(60.0); // 60 microseconds PWM period, 16.7 kHz, defines all PWM pins (only needs to done once), FastPWM variabele MotorInterrupt.attach(Motor, 0.5); // Ticker die de functie Motor aanroept elke halve seconde, meer tijd is tragere respons op potmeter but2.rise(buttonpress); while(true){} // Endless loop }