Diff: main.cpp

Revision:

10:3796b6a6c239

Parent:

9:ea9d35838861

Child:

11:e2b2ea8a3be8

--- a/main.cpp	Tue Oct 27 10:30:54 2015 +0000
+++ b/main.cpp	Tue Oct 27 14:02:40 2015 +0000
@@ -2,12 +2,17 @@
 #include "QEI.h"
 
 Serial pc(USBTX, USBRX);
-QEI wheel (PTC10, PTC11, NC, 624); // Pin for counting (analog in)
+//QEI wheel_one (PTC10, PTC11, NC, 624); // Pin for counting (analog in)
+//QEI wheel_one (PTD3, PTD1, NC, 624);
+QEI wheel_two (PTD0, PTD2, NC, 624);
 
 // Define pin for motor control
 DigitalOut directionPin_one(D4);
 PwmOut PWM_one(D5);
 
+PwmOut PWM_two(D6);
+DigitalOut directionPin_two(D7);
+
 DigitalIn buttonccw(PTA4);
 DigitalIn buttoncw(PTC6);
 
@@ -18,7 +23,8 @@
 // define rotation direction and begin possition
 const int cw = 1;
 const int ccw = 0;
-double setpoint = 0; //setpoint is in pulses
+double setpoint_one = 0; //setpoint is in pulses
+double setpoint_two = 0; //""               ""
 
 // saying buttons are not pressed
 const int Buttoncw_pressed = 0;
@@ -95,7 +101,8 @@
     else{
         output = 0;
         }
-PWM.write(output); // out of the if loop due to abs output
+    
+    PWM.write(output); // out of the if loop due to abs output
 
 
 }
@@ -104,8 +111,11 @@
 void counts_showing()
 {
 
-    double kijken = wheel.getPulses()/pulses_per_revolution;
-    pc.printf("ref %.2f rounds%.2f \n",setpoint/pulses_per_revolution,kijken);
+    //double kijken = wheel_one.getPulses()/pulses_per_revolution;
+    //pc.printf("ref %.2f rounds%.2f \n",setpoint_one/pulses_per_revolution,kijken);
+    
+    double kijken = wheel_two.getPulses()/pulses_per_revolution;
+    pc.printf("ref %.2f rounds%.2f \n",setpoint_two/pulses_per_revolution,kijken);
 
 }
 
@@ -117,7 +127,8 @@
 // to make the motor move
         if(flag_motor) {
             flag_motor = false;
-            motor1_Controller(directionPin, PWM, wheel, setpoint);
+            //motor1_Controller(directionPin_one, PWM_one, wheel_one, setpoint_one);
+            motor1_Controller(directionPin_two, PWM_two, wheel_two, setpoint_two);
         }
 
         if(flag_pcprint) {
@@ -127,11 +138,16 @@
 
 // Pussing buttons to get input signal
 
-    if(buttoncw.read() == Buttoncw_pressed){
-      setpoint = making_setpoint(cw, setpoint);
+        if(buttoncw.read() == Buttoncw_pressed)
+        {
+            //setpoint_one = making_setpoint(cw, setpoint_one);
+            setpoint_two = making_setpoint(ccw, setpoint_two);
         }
-    if(buttonccw.read() == Buttonccw_pressed) {
-          setpoint =  making_setpoint(ccw, setpoint);
+        
+        if(buttonccw.read() == Buttonccw_pressed) 
+        {
+            //setpoint_one =  making_setpoint(ccw, setpoint_one);
+            setpoint_two = making_setpoint(cw, setpoint_two);
         }
 
     }