Diff: main.cpp

Revision:

6:cc3e47c7aac2

Parent:

5:fd4eaf3cb09d

Child:

7:12fedc93c6ad

diff -r fd4eaf3cb09d -r cc3e47c7aac2 main.cpp
--- a/main.cpp	Fri Oct 19 10:51:16 2018 +0000
+++ b/main.cpp	Fri Oct 19 11:21:40 2018 +0000
@@ -1,7 +1,6 @@
 #include "mbed.h"
 #include "MODSERIAL.h"
 
-#include "pid.h"
 #include "motor.h"
 
 const float pid_period = 0.001; // PID sample period in seconds.
@@ -14,7 +13,8 @@
 AnalogIn potmeter2(A2); // Analoge input van potmeter 2 -> Motor 2
 Serial pc(USBTX, USBRX);
 
-Motor motor(D6, D7, D13, D12, &pc);
+Motor motor1(D6, D7, D13, D12, &pc);
+Motor motor2(D5, D4, D10, D11, &pc);
 
 
 // Normalizes a potmeter value from it's original range of [0, 1] to [-1, 1]
@@ -28,16 +28,25 @@
 {
     pc.baud(115200);
     pc.printf("Starting.");
-    motor.set_pid_k_values(Kp, Ki, Kd);
+    motor1.set_pid_k_values(Kp, Ki, Kd);
+    motor2.set_pid_k_values(Kp, Ki, Kd);
     // Start the motor controller at the desired frequency.
-    motor.start(pid_period);
+    motor1.start(pid_period);
+    motor2.start(pid_period);
     
     while(true){
         // reads out value potmeter 1 between 0-1
-        double pot = potmeter2.read();
+        double pot = potmeter1.read();
         double desired_angle = normalize_pot(pot) * PI; // Scale the potmeter to [-PI, PI]
         // Update the motor controller with the new angle.
-        motor.set_target_angle(desired_angle);
+        motor1.set_target_angle(desired_angle);
+        
+        // reads out value potmeter 1 between 0-1
+        pot = potmeter2.read();
+        desired_angle = normalize_pot(pot) * PI; // Scale the potmeter to [-PI, PI]
+        // Update the motor controller with the new angle.
+        motor2.set_target_angle(desired_angle);
+        
         wait(0.1);
     } //Lege while loop zodat functie niet afloopt
 }
\ No newline at end of file