Diff: main.cpp

Revision:

2:3e6f179dfe7d

Parent:

1:b9fb9ec8a9e6

Child:

3:dfed7f210afa

--- a/main.cpp	Wed Sep 23 12:08:31 2015 +0000
+++ b/main.cpp	Wed Oct 07 11:33:51 2015 +0000
@@ -1,32 +1,62 @@
+//****************************************************************** Encoder Script ******************************************************************
+// In this script there will be looked at how we can calculate the degrees that a pulomo DC motor with a gearbox 1:131 kan make. 
+// The usage of this script will be explained in Steps by 
+// Author: Robert v/d Wal
+
+// ******************************************* Library DECLARATION **************************************
+// We need to add the standard "mbed.h" library for standard commands. 
+// The second library is used to read the encoder on the DC motor. If you look at the library you see a command with QEI wheel. This needs information
+// of how many Inputs are measuring the Encoder(2 in this script other is NC). We want to read it with a known reading speed and that is 64 bit, 
+// the last thing is if the encoder works with X1, X2 or X4 encoding.
 #include "mbed.h"
 #include "QEI.h"
 #include "MODSERIAL.h"
- 
+
+// ******************************************* FUNCTION DECLA *******************************************
 Serial pc(USBTX, USBRX);
 DigitalOut motor2direction(D4); //D4 en D5 zijn motor 2 (op het motorshield)
 PwmOut motor2speed(D5);
-//Use X4 encoding.
-//QEI wheel(p29, p30, NC, 624, QEI::X4_ENCODING);
-//Use X2 encoding by default.
-QEI wheel (D11, D12, NC, 64,QEI::X4_ENCODING);       // 
+QEI wheel (D11, D12, NC, 64,QEI::X4_ENCODING);       //
+
+//***************************** Variables DECLA *****************
+
+bool flag_1 = false; 
+
+// ************************** TICKER DECLA ****************
 Ticker flipper;
- 
- void flip() {
-    motor2direction.write(0);
-    for(int i=0;i<21; i++)
-        { 
-            wait(0.1);
-            pc.printf("Pulses is: %i\n", (wheel.getPulses()/((64*131)/360)));
-        }
+
+//*****************************************************************************************************************************************************************
+
+
+
+//********    SCRIPT     **************
+void flip()
+{
+    flag_1 = true;
 }
- 
-int main() {
- flipper.attach(&flip, 2.0);
-    while(1){
-        motor2direction.write(1);
+
+
+
+int main()
+{
+
+    flipper.attach(&flip, 0.01);            // 100 HZ is the samplefrequency to read the encoder 
+    while(1) {
+        motor2direction.write(0);
         motor2speed.write(0.2);
         wait(0.1);
-        pc.printf("Pulses is: %i\n", (wheel.getPulses()/((64*131)/360)));
+        if(flag_1 == true) 
+        {
+        pc.printf("Pulses is: %i\n", (wheel.getPulses()/((64*131)/360)));                // The reading of the Encoder 
+        flag_1 = false;  
+        }                                                                // set if loop off
     }
- 
+
 }
+
+// *****Explanation script******
+// You don't need to look at the Ticker or the motor settings but only on the command "wheel.getPulses()".
+// With this command you can read how many pulses are being read. To read it you can set a Ticker to constant read the value.
+// Warning!!! The encoder input gets in a formula to calculate the degrees the encoder is making in the "pc.printf" loop,
+// but if you want to use this formula in signal processing you get a problem. C++ cannot work with a Input and formula processing at 
+// the same time so get first Input and then set this known value in a formula.
\ No newline at end of file