Diff: main.cpp

Revision:

5:d1ab07fd3355

Parent:

4:0844ab0d7d93

Child:

6:8ab07cce3098

--- a/main.cpp	Fri Oct 09 11:29:40 2015 +0000
+++ b/main.cpp	Wed Oct 14 10:33:34 2015 +0000
@@ -28,7 +28,20 @@
 double Rotation = 2; // rotation in degree
 double movement = Rotation * 360 * resolution; // times 360 to make Rotations degree.
 
+// defining flags
+volatile bool flag_motor = false;
+volatile bool flag_pcprint = false;
 
+// making flags.
+void Go_flag_motor()
+{
+    flag_motor = true;
+}
+
+void Go_flag_pcprint()
+{
+    flag_pcprint = true;
+}
 
 // Reusable P controller
 double PI(double error, const double Kp, const double Ki, double Ts, double &e_int)
@@ -78,9 +91,21 @@
 
 int main()
 {
-    aansturen.attach( &motor1_Controller, 0.001f ); // 100 Hz
-    Printen.attach(&counts_showing,0.1); // 10 Hz // printstatement here because printing cost to much time. the motor void wouldn't be completed
-    while( 1 ) { }
+    aansturen.attach( &Go_flag_motor, 0.001f ); // 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 ) {
+
+        if(flag_motor) {
+            flag_motor = false;
+            motor1_Controller();
+        }
+
+        if(flag_pcprint) {
+            flag_pcprint = false;
+            counts_showing();
+        }
+
+    }
 }