Programming Milestone 1 Group 7 BMT M9: Making robots move at different velocities/directions by adjusting potmeter.
Dependencies: FastPWM MODSERIAL mbed
Fork of Programming_Milestone_1 by
main.cpp
- Committer:
- MAHCSnijders
- Date:
- 2018-09-25
- Revision:
- 2:6d3f3d1bcef7
- Parent:
- 1:67b19c59b8c9
- Child:
- 3:cb0a931ff019
- Child:
- 4:a4cd6f9c851d
File content as of revision 2:6d3f3d1bcef7:
#include "mbed.h" #include "FastPWM.h" #include "MODSERIAL.h" MODSERIAL pc(USBTX, USBRX); Ticker motor; // ticker function FastPWM pwmpin1(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) FastPWM pwmpin2(D6); // 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 volatile float pot1; volatile float pot2; volatile float pot1_scale; volatile float pot2_scale; volatile float u1; volatile float u2; void motorfunction() { pot1 = potmeter1.read(); // Reads out value potmeter 1 between 0-1 pot1_scale = pot1*2 -1; // Scales value potmeter from 0-1 to -1 - 1. pot2 = potmeter2.read(); pot2_scale = pot2*2 -1; // Scales value potmeter from 0-1 to -1 - 1. u1 = pot1_scale; // motor control signal 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 pwmpin1 = 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). pwmpin2 = fabs(u2); //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() { pwmpin1.period_us(60.0); //60 microseconds PWM period, 16.7 kHz, defines all PWM pins (only needs to be done once) pc.baud(115200); motor.attach(motorfunction,0.5); while(true){ pc.printf("%f \n, %f \n, %f\n", pot1,pot1_scale, u1); wait(1.0f); } //Lege while loop zodat functie niet afloopt }