Diff: main.cpp

Revision:

4:8113394bed1b

Parent:

3:d319bc2b19f1

Child:

5:33133ebe37fd

--- a/main.cpp	Mon Oct 14 10:21:10 2019 +0000
+++ b/main.cpp	Mon Oct 14 10:41:49 2019 +0000
@@ -1,3 +1,16 @@
+/*
+    The Poolinator - A pool playing robot for people with DMD
+
+GROUP 10
+Sjoerd de Jong              - s1949950
+Joost Loohuis               - s1969633
+Viktor Edlund               - s2430878
+Giuseppina Pinky Diatmiko   - s1898841
+Daan v.d Veen               - s2003171
+*/
+
+// THE PINOUT IS SHOWN IN THE 'PINOUT' DOC ON THE DRIVE!! //
+
 #include "mbed.h"
 #include "HIDScope.h"
 #include "QEI.h"
@@ -6,8 +19,6 @@
 #include "FastPWM.h"
 #include "Servo.h"
 
-// PLEASE USE THE PINOUT AS SHOWN IN THE PINOUT DOC ON THE DRIVE
-
 MODSERIAL pc(USBTX, USBRX);
 
 AnalogIn pot(A1);
@@ -112,11 +123,37 @@
 {
     pc.baud(115200);
     pc.printf("\r\nStarting...\r\n\r\n");
+    motor1_pwm.period(1.0 / frequency_pwm); // T = 1 / f
+    motor2_pwm.period(1.0 / frequency_pwm);
+    motor3_pwm.period(1.0 / frequency_pwm);
 
     while (true) {
-        // stepper_move(1);
-        // wait_ms(1.5);
+        /*
+        SOME EXAPLE CODE
+        
+        * MOTOR
+        setMotor(..., ...) // which motor (1,2,3), and speed (-inf, +inf)
+        
+        * PID
+        double currentPos1 = encoder1.getPulses();
+        double targetPos1 = 10000;
+        double error1 = targetPos1 - currentPos1;
+        float PID_speed1 = pid(error) * PID_gain;
+        setMotor(1, PID_speed1);
 
-        // myservo = ... (value between 0.0 and 1.0)
+        * STEPPER
+        stepper_move(1); // direction (0 or 1)
+        wait_ms(1.5); // requires some time between steps
+
+        * SERVO
+        myservo = ... // value between 0.0 and 1.0
+        
+        * SOLENOID 
+        setSolenoid(0); // shooting
+        wait(1000);
+        setSolenoid(1);
+        
+        */
+      
     }
 }