Diff: main.cpp

Revision:

1:67b19c59b8c9

Parent:

0:1e216b50d323

Child:

2:6d3f3d1bcef7

--- a/main.cpp	Tue Sep 25 10:36:50 2018 +0000
+++ b/main.cpp	Tue Sep 25 12:41:08 2018 +0000
@@ -1,16 +1,29 @@
 #include "mbed.h"
+#include "FastPWM.h"
+#include "MODSERIAL.h"
+
+Ticker motor; // ticker function
+FastPWM pwmpin(D5); // SPECIFIC PIN (hoeft niet aangesloten te worden) Tells you how fast the motor has to go (later: pwmpin.write will tell you the duty cycle, aka how much voltage the motor gets)
+DigitalOut directionpin1(D4); // SPECIFIC PIN (hoeft niet aangesloten te worden) Direction value (0-1) that the mbed will give the motor: in which direction the motor must rotate
+DigitalOut directionpin2(D7); // SPECIFIC PIN (hoeft niet aangesloten te worden) Direction value (0-1) that the mbed will give the motor: in which direction the motor must rotate
+AnalogIn potmeter1(A0); // Analoge input van potmeter 1
+AnalogIn potmeter2(A1); // Analoge input van potmeter 2
 
-PwmOut pwmpin();
-DigitalOut directionpin();
-pwmpin.period_us(60); //60 microseconds PWM period, 16.7 kHz
-AnalogIn potmeter();  // Analoge input van potmeter
+void motorfunction()
+{       float pot1 = potmeter1.read(); // Reads out value potmeter 1 between 0-1
+        float pot1_scale = pot1*2 -1;         // Scales value potmeter from 0-1 to -1 - 1.
+        float pot2 = potmeter2.read(); 
+        float pot2_scale = pot2*2 -1;         // Scales value potmeter from 0-1 to -1 - 1.        
+        float u1 = pot1_scale; // motor control signal
+        float u2 = pot2_scale; // motor control signal
+        directionpin1 = u1 > 0.0f; //either true or false, determines direction (0 or 1)
+        directionpin2 = u2 > 0.0f; //either true or false
+        pwmpin = fabs(u1); //pwm duty cycle can only be positive, floating point absolute value (if value is >0, the there still will be a positive value).
+}
 
 int main()
 {
-    while (true) {
-        float u = -0.3f; //determine useful value, -0.3f is just an example
-        directionpin = u > 0.0f; //either true or false
-        pwmpin = fabs(u); //pwm duty cycle can only be positive, floating point absolute value
-        float pot = potmeter.read();
-    }
+    pwmpin.period_us(60.0); //60 microseconds PWM period, 16.7 kHz
+    motor.attach(motorfunction,0.3);
+    while(true){} //Lege while loop zodat functie niet afloopt
 }
\ No newline at end of file