Diff: main.cpp

Revision:

13:88967c004446

Parent:

12:0c10396d0615

Child:

14:b97e7a41ec23

--- a/main.cpp	Wed Oct 31 09:36:52 2018 +0000
+++ b/main.cpp	Wed Oct 31 10:02:32 2018 +0000
@@ -21,7 +21,6 @@
 const float Ki = 0.1;
 const float Kd = 0.5;
 
-
 Motor main_motor(D6, D7, D13, D12);
 Motor sec_motor(D5, D4, D10, D11);
 
@@ -31,6 +30,10 @@
 const float sec_gear_ratio = 25.0/50.0;
 
 
+AnalogIn potmeter1(A5); // Analoge input van potmeter 1 -> Motor 1
+AnalogIn potmeter2(A4); // Analoge input van potmeter 2 -> Motor 2
+
+
 States current_state;   // Defining the state we are currently in
 States last_state;      // To detect state changes.
 Ticker loop_ticker;     // Ticker for the loop function
@@ -146,6 +149,11 @@
         screen.display_state_name("Normal operation");
     }
     
+    double main_target = potmeter1.read() *2 - 1;
+    main_motor.set_target_angle(main_target);
+    double sec_target = potmeter2.read() *2 - 1;
+    sec_motor.set_target_angle(sec_target);
+    
     if (ud_button.has_just_been_pressed()) {
         control_goes_up = !control_goes_up;
     }