Biorobotics / Mbed 2 deprecated Motor_moving_setpoint

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Dependencies:   QEI mbed

main.cpp@2:f0215a034e04, 2015-09-28 (annotated)

Committer:
yohoo15
Date:
Mon Sep 28 14:13:31 2015 +0000
Revision:
2:f0215a034e04
Parent:
1:c855dee2c6d4 
Hij doet raar, doet twee dingen door elkaar; ;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
yohoo15 0:70a6fd5751a6 1 #include "mbed.h"
yohoo15 0:70a6fd5751a6 2 #include "QEI.h"
yohoo15 0:70a6fd5751a6 3
yohoo15 0:70a6fd5751a6 4 Serial pc(USBTX, USBRX);
yohoo15 0:70a6fd5751a6 5 QEI wheel (PTC10, PTC11, NC, 624); // Pin for counting (analog in)
yohoo15 0:70a6fd5751a6 6
yohoo15 0:70a6fd5751a6 7 // Define pin for motor control
yohoo15 0:70a6fd5751a6 8 DigitalOut directionPin(D4);
yohoo15 0:70a6fd5751a6 9 PwmOut PWM(D5);
yohoo15 0:70a6fd5751a6 10
yohoo15 0:70a6fd5751a6 11
yohoo15 0:70a6fd5751a6 12
yohoo15 0:70a6fd5751a6 13 // 8400 counts per revolution
yohoo15 0:70a6fd5751a6 14 // so 8400 / (2 *pi) is counts/pi
yohoo15 0:70a6fd5751a6 15
yohoo15 0:70a6fd5751a6 16
yohoo15 0:70a6fd5751a6 17 Ticker tellen;
yohoo15 2:f0215a034e04 18
yohoo15 1:c855dee2c6d4 19 volatile bool stoppen = false;
yohoo15 0:70a6fd5751a6 20
yohoo15 0:70a6fd5751a6 21 void GOTO()
yohoo15 0:70a6fd5751a6 22 {
yohoo15 2:f0215a034e04 23 double Offset = 10341 ;//8400 counts is aangegeven op de motor ( is te weinig) 10511 schiet iets over
yohoo15 1:c855dee2c6d4 24 double resolution = Offset / (2 * 3.14159265);
yohoo15 0:70a6fd5751a6 25 double Rotation = 4; // rotation in pi
yohoo15 0:70a6fd5751a6 26 double movement = Rotation * resolution;
yohoo15 0:70a6fd5751a6 27
yohoo15 0:70a6fd5751a6 28 // pc.printf("The number of real rotation is %i \n",Rotation);
yohoo15 0:70a6fd5751a6 29
yohoo15 0:70a6fd5751a6 30
yohoo15 0:70a6fd5751a6 31 if (wheel.getPulses() <= movement) {
yohoo15 0:70a6fd5751a6 32 directionPin.write(1);
yohoo15 0:70a6fd5751a6 33 PWM.write(0.3);
yohoo15 0:70a6fd5751a6 34 pc.printf("Pulses is: %i\n", wheel.getPulses());
yohoo15 0:70a6fd5751a6 35 } else {
yohoo15 0:70a6fd5751a6 36 PWM.write(0);
yohoo15 0:70a6fd5751a6 37 //pc.printf("The motor turned %i rotations \n",Rotation);
yohoo15 2:f0215a034e04 38 pc.printf("Pulses is: %i\n The motor turned %.2f pi rotations\n", wheel.getPulses(),wheel.getPulses()/resolution);
yohoo15 0:70a6fd5751a6 39 stoppen = true;
yohoo15 0:70a6fd5751a6 40
yohoo15 0:70a6fd5751a6 41
yohoo15 0:70a6fd5751a6 42 }
yohoo15 0:70a6fd5751a6 43
yohoo15 0:70a6fd5751a6 44
yohoo15 0:70a6fd5751a6 45
yohoo15 0:70a6fd5751a6 46
yohoo15 0:70a6fd5751a6 47 }
yohoo15 0:70a6fd5751a6 48
yohoo15 0:70a6fd5751a6 49
yohoo15 0:70a6fd5751a6 50
yohoo15 0:70a6fd5751a6 51 int main()
yohoo15 1:c855dee2c6d4 52
yohoo15 0:70a6fd5751a6 53 {
yohoo15 2:f0215a034e04 54 int proberenn = 1000;
yohoo15 2:f0215a034e04 55 pc.printf("The number of rotation is %i \n",proberenn);
yohoo15 0:70a6fd5751a6 56
yohoo15 2:f0215a034e04 57 while(1){
yohoo15 2:f0215a034e04 58 if(stoppen == false){ // doet eerst de while loop en dan begint hij met de ticker
yohoo15 2:f0215a034e04 59 tellen.attach(&GOTO, 0.1);
yohoo15 2:f0215a034e04 60 pc.printf("dit is if \n");
yohoo15 2:f0215a034e04 61 stoppen = true;
yohoo15 2:f0215a034e04 62 } else
yohoo15 2:f0215a034e04 63 {
yohoo15 2:f0215a034e04 64
yohoo15 2:f0215a034e04 65 pc.printf("wees geen bitch \n");
yohoo15 2:f0215a034e04 66
yohoo15 2:f0215a034e04 67 }
yohoo15 2:f0215a034e04 68
yohoo15 2:f0215a034e04 69 }
yohoo15 2:f0215a034e04 70 }
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