Diff: main.cpp

Revision:

1:63edfaecc73e

Parent:

0:bb0fd6c1d178

Child:

2:5ec7af981b32

--- a/main.cpp	Fri Oct 09 07:49:40 2015 +0000
+++ b/main.cpp	Wed Oct 14 10:33:11 2015 +0000
@@ -26,14 +26,27 @@
 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 P(double error, const double Kp)
 {
     double error_normalised_degree = error / resolution; // calculate how much degree the motor has to turn.
     double error_normalised_rotation = error_normalised_degree / 360; //calculate how much the rotaions the motor has to turn
-    
+
     double P_output = Kp * error_normalised_rotation;
     return P_output;
 }
@@ -52,10 +65,11 @@
         directionPin.write(cw);
         PWM.write(output);
         //pc.printf("ref %.0f count%.0f cw\n",movement,position);
-         
-    } if(error < 0) {
+
+    }
+    if(error < 0) {
         directionPin.write(ccw);
-        PWM.write(-output); //min output to get output possitif
+        PWM.write(-output); //min output to get output positive
         //pc.printf("a");
     }
 
@@ -65,18 +79,30 @@
 
 
 void counts_showing()
-{ 
+{
 
- double kijken = wheel.getPulses();
-pc.printf("ref %.0f count%.0f \n",movement,kijken);
-    
-    }
+    double kijken = wheel.getPulses();
+    pc.printf("ref %.0f count%.0f \n",movement,kijken);
+
+}
 
 int main()
 {
-    aansturen.attach( &motor1_Controller, 0.1f ); // 100 Hz
-    Printen.attach(&counts_showing,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();
+        }
+
+    }
 }