Diff: motor.cpp

Revision:

2:b30a467e90d3

Parent:

0:009e84d7af32

Child:

4:5353c5d0d2ed

diff -r 0bb9adb89005 -r b30a467e90d3 motor.cpp
--- a/motor.cpp	Fri Oct 19 11:01:52 2018 +0000
+++ b/motor.cpp	Mon Oct 29 14:15:57 2018 +0000
@@ -1,5 +1,22 @@
 #include "motor.h"
 
+Motor::Motor(PinName pwm_pin, PinName dir_pin, PinName encoder_a, PinName encoder_b):
+    pwm_out(pwm_pin),
+    dir_out(dir_pin),
+    encoder(encoder_a, encoder_b, NC, PULSES_PER_ROTATION, QEI::X4_ENCODING)
+    {
+    pid = PID();
+    
+    target_angle = 0;
+    
+    printcount = 0;
+    pid_period = 0;
+    serial_debugging = false;
+    
+    // 60 microseconds PWM period, 16.7 kHz, defines all PWM pins (only needs to be done once)
+    pwm_out.period_us(60.0);
+}
+
 Motor::Motor(PinName pwm_pin, PinName dir_pin, PinName encoder_a, PinName encoder_b, Serial* pc):
     pwm_out(pwm_pin),
     dir_out(dir_pin),
@@ -12,6 +29,7 @@
     printcount = 0;
     pid_period = 0;
     this->pc = pc;
+    serial_debugging = true;
     
     // 60 microseconds PWM period, 16.7 kHz, defines all PWM pins (only needs to be done once)
     pwm_out.period_us(60.0);
@@ -45,10 +63,13 @@
     
     double speed_pwm = radians_per_second_to_pwm(speed_rps);
     
-    printcount++;
-    if (printcount >= 0.1L/pid_period) {
-        pc->printf("c_angle: %f, d_angle: %f, error: %f, rps: %f, speed: %f\n", current_angle, target_angle, error, speed_rps, speed_pwm);
-        printcount = 0;
+    if (serial_debugging) {
+    
+        printcount++;
+        if (printcount >= 0.1L/pid_period) {
+            pc->printf("c_angle: %f, d_angle: %f, error: %f, rps: %f, speed: %f\n", current_angle, target_angle, error, speed_rps, speed_pwm);
+            printcount = 0;
+        }
     }
     
     update_motor_speed(speed_pwm);