Diff: main.cpp

Revision:

6:fc46581fe3e0

Parent:

5:8c6d66a7c5da

Child:

7:809f122886ae

Child:

8:9edf32e021a5

Child:

18:5c4e27db4d9e

--- a/main.cpp	Fri Oct 20 06:56:35 2017 +0000
+++ b/main.cpp	Mon Oct 23 07:48:56 2017 +0000
@@ -10,14 +10,12 @@
 PwmOut speed2(D6);
 DigitalOut dir1(D4);
 DigitalOut dir2(D7);
-DigitalIn but1(PTC6);
+DigitalIn press(PTA4);
 DigitalOut led1(D8);
 DigitalOut led2(D11);
 AnalogIn pot(A2);
 AnalogIn pot2(A1);
-Ticker potmeterreadout;
-Ticker encoderreadout;
-Ticker Frequency;
+Ticker mainticker;
 Encoder motor1(PTD0,PTC4);
 Encoder motor2(D12,D13);
 
@@ -54,20 +52,17 @@
 volatile double position = 0.0;
 volatile double position2 = 0.0;
 
-bool readoutsetpoint = true;
+//bool readoutsetpoint = true;
 
 void setpointreadout()
 {
-    if (readoutsetpoint == true){
+   
     potvalue = pot.read();
     setpoint = potvalue*6.28f;
     
     potvalue2 = pot2.read();
     setpoint2 = potvalue2*6.28f;
-    }
-    else {
-        readoutsetpoint = false;
-    }
+   
 }
     
 
@@ -80,11 +75,9 @@
     //pc.printf("pos: %d, speed %f reference position = %.2f\r ",motor1.getPosition(), motor1.getSpeed(), setpoint);
     //motorpid = PID(potvalue - position, M1_KP, M1_KI, M1_KD, M1_TS, m1_err_int, m1_prev_err, m1_f_v1, m1_f_v2, M1_F_A1, M1_F_A2, M1_F_B0, M1_F_B1, M1_F_B2);
 
-
-
     error1 = setpoint - angle;
     error2 = setpoint2 - angle2;
-
+    
     changeError = (error1 - last_error)/0.001f; // derivative term
     totalError += error1*0.001f; //accumalate errors to find integral term
     pidTerm = (Kp * error1) + (Ki * totalError) + (Kd * changeError);//total gain
@@ -137,13 +130,11 @@
 
 int main()
 {
-    encoderreadout.attach(PIDcalculation,0.01f);
+    mainticker.attach(PIDcalculation,0.01f);
     speed1.period(PwmPeriod);
     speed2.period(PwmPeriod);
     
-    int count = 0;
-    
-    
+    int count = 0;    
     while(true) {
         
         count++;
@@ -153,20 +144,15 @@
             pc.printf("Angle 2 = %f, pidTerm 2 = %f ,PID_scaled 2 = %f, Error 2 = %f, setpoint 2 = %f\r\n", angle2, pidTerm2 ,pidTerm_scaled2, error2,setpoint2);
         }
          
-         if(but1 == 1){ 
-            setpoint = 0;
-            setpoint2 = 0;
-            while(error1 >= 0.1f && error2 >= 0.1f){
-                
-            }
-            readoutsetpoint = true;
-        }
+         
+    wait(0.001f);
+    }
        
             
             
         
-        wait(0.001f);
-    }
+        
+    
 
 }