Diff: main.cpp

Revision:

7:6006a473ea0b

Parent:

6:8ab07cce3098

Child:

8:998f4575089b

--- a/main.cpp	Wed Oct 14 13:26:48 2015 +0000
+++ b/main.cpp	Thu Oct 15 13:39:59 2015 +0000
@@ -7,14 +7,22 @@
 // Define pin for motor control
 DigitalOut directionPin(D4);
 PwmOut PWM(D5);
+DigitalIn buttonccw(PTA4);
+DigitalIn buttoncw(PTC6);
 
 // define ticker
 Ticker aansturen;
 Ticker Printen;
 
-// define rotation direction
+// define rotation direction and begin possition
 const int cw = 1;
 const int ccw = 0;
+double setpoint = 0; //setpoint is in pulses
+
+// saying buttons are not pressed
+const int Buttoncw_pressed = 0;
+const int Buttonccw_pressed = 0;
+
 
 // Controller gain proportional and intergrator
 const double motor1_Kp = 5; // more or les random number.
@@ -23,10 +31,12 @@
 double motor1_error_integraal = 0; // initial value of integral error
 
 
-// calculating pulses to rotations in degree.
+// Defining pulses per revolution (calculating pulses to rotations in degree.)
 const double pulses_per_revolution = 4200 ;//8400 counts is aangegeven op de motor for x4.  10 - 30 counts oveshoot. for moter 1(tape)! Motor 2 almost the same(nice)
+/*
 double Rotation = -2; // rotation in degree
 double movement = Rotation * pulses_per_revolution; // times 360 to make Rotations degree.
+*/
 
 // defining flags
 volatile bool flag_motor = false;
@@ -43,6 +53,17 @@
     flag_pcprint = true;
 }
 
+// To make a new setpoint 
+double making_setpoint(double direction){
+    if ( cw == direction){
+        setpoint = setpoint + (pulses_per_revolution/4);
+        }
+        if ( ccw == direction){
+        setpoint = setpoint - (pulses_per_revolution/4);
+        }
+    return(setpoint);
+    }
+
 // Reusable P controller
 double PI(double error, const double Kp, const double Ki, double Ts, double &e_int)
 { 
@@ -55,7 +76,7 @@
 // Next task, measure the error and apply the output to the plant
 void motor1_Controller()
 {
-    double reference = movement; // movement is in pulses
+    double reference = setpoint; // setpoint is in pulses
     double position = wheel.getPulses();
     double error_pulses = (reference - position); // calculate the error in pulses
     double error_rotation = error_pulses / pulses_per_revolution; //calculate how much the rotaions the motor has to turn
@@ -82,7 +103,7 @@
 {
 
     double kijken = wheel.getPulses() / pulses_per_revolution;
-    pc.printf("ref %.0f rounds%.2f \n",Rotation,kijken);
+    pc.printf("ref %.0f rounds%.2f \n",setpoint/pulses_per_revolution,kijken);
 
 }
 
@@ -91,7 +112,7 @@
     aansturen.attach( &Go_flag_motor, 0.01f ); // 100 Hz // timer 0.00001f motor keeps spinning
     Printen.attach(&Go_flag_pcprint,0.1f); // 10 Hz // printstatement here because printing cost to much time. the motor void wouldn't be completed
     while( 1 ) {
-
+// to make the motor move
         if(flag_motor) {
             flag_motor = false;
             motor1_Controller();
@@ -102,6 +123,15 @@
             counts_showing();
         }
 
+// Pussing buttons to get input signal
+
+    if(buttoncw.read() == Buttoncw_pressed){
+      setpoint = making_setpoint(cw);
+        }
+if(buttonccw.read() == Buttonccw_pressed) {
+          setpoint =  making_setpoint(ccw);
+        }
+
     }
 }