Diff: main.cpp

Revision:

9:ea9d35838861

Parent:

8:998f4575089b

Child:

10:3796b6a6c239

--- a/main.cpp	Mon Oct 19 09:12:17 2015 +0000
+++ b/main.cpp	Tue Oct 27 10:30:54 2015 +0000
@@ -5,8 +5,9 @@
 QEI wheel (PTC10, PTC11, NC, 624); // Pin for counting (analog in)
 
 // Define pin for motor control
-DigitalOut directionPin(D4);
-PwmOut PWM(D5);
+DigitalOut directionPin_one(D4);
+PwmOut PWM_one(D5);
+
 DigitalIn buttonccw(PTA4);
 DigitalIn buttoncw(PTC6);
 
@@ -54,12 +55,12 @@
 }
 
 // To make a new setpoint 
-double making_setpoint(double direction){
+double making_setpoint(double direction, double setpoint){
     if ( cw == direction){
-        setpoint = setpoint + (pulses_per_revolution/40000);
+        setpoint = setpoint + (pulses_per_revolution/400000);
         }
         if ( ccw == direction){
-        setpoint = setpoint - (pulses_per_revolution/40000);
+        setpoint = setpoint - (pulses_per_revolution/400000);
         }
     return(setpoint);
     
@@ -75,7 +76,7 @@
     return PI_output;
 }
 // Next task, measure the error and apply the output to the plant
-void motor1_Controller()
+void motor1_Controller(DigitalOut directionPin, PwmOut PWM, QEI &wheel, double setpoint)
 {
     double reference = setpoint; // setpoint is in pulses
     double position = wheel.getPulses();
@@ -116,7 +117,7 @@
 // to make the motor move
         if(flag_motor) {
             flag_motor = false;
-            motor1_Controller();
+            motor1_Controller(directionPin, PWM, wheel, setpoint);
         }
 
         if(flag_pcprint) {
@@ -127,10 +128,10 @@
 // Pussing buttons to get input signal
 
     if(buttoncw.read() == Buttoncw_pressed){
-      setpoint = making_setpoint(cw);
+      setpoint = making_setpoint(cw, setpoint);
         }
-if(buttonccw.read() == Buttonccw_pressed) {
-          setpoint =  making_setpoint(ccw);
+    if(buttonccw.read() == Buttonccw_pressed) {
+          setpoint =  making_setpoint(ccw, setpoint);
         }
 
     }