Diff: main.cpp

Revision:

3:d519ec330c31

Parent:

2:ea985bb173f6

Child:

4:2ee0d20f624b

--- a/main.cpp	Fri Oct 26 07:51:43 2018 +0000
+++ b/main.cpp	Fri Oct 26 09:42:46 2018 +0000
@@ -1,5 +1,5 @@
 #include "mbed.h"
-
+#define SERIAL_BAUD 115200
 
 //initial allocations
 DigitalOut dirpin(D4);
@@ -8,41 +8,56 @@
 PwmOut pwmpin2(D6);
 QEI Encoder(D12,D13,NC,64,QEI::X4_ENCODING);
 
-
+Serial pc(USBTX,USBRX);
 
 //volatiles
 volatile counts_prev=0;
+volatile counts;
 
 
 
 //functions (2 functions not finished)
 int counts(){
+    counts_prev=counts;
     int counts=Encoder.getPulses();     //MAAK NOG AF MET PREVIOUS COUNTS ONTHOUDEN.
     return counts;
 
-int pos_store(a){}                       //store position in counts to know count location of the ends of bridge
+void pos_store(a){}                       //store position in counts to know count location of the ends of bridge
+    static float pos1=0.1;
+    static float pos2=0.1;
+    static float pos3=0.1;
+    if (pos1 == 0.1){
+        pos1=a;
+    else if (pos2 == 0.1){
+        pos2=a;
+    else if (pos3 == 0.1){
+        pos3=a;
+    else {}
     
 void translation_start(a,b);            //start rail motor
-        dirpin.write(a);
-        pwmpin = b;                        
+    dirpin.write(a);
+    pwmpin = b;                        
 void translation_stop();                //stop rail motor
-        pwmpin = 0;     
+    pwmpin = 0;     
 void rotate_start(a,b){}                    //start rotation of disk
-        dirpin2.write(a);
-        pwmpin2 = b; 
+    dirpin2.write(a);
+    pwmpin2 = b; 
 void rotate_stop(){}                     //stop rotation of disk
-        pwmpin2 = 0; 
+    pwmpin2 = 0; 
 
 
 //main function
 int main(){
+    pc.baud(115200);                  
+    pc.printf("start\r\n");
+    
     pwmpin.period_us(60);
     
     //parameters
     int caltime=30;             //calibration time until condition has been met, caltime=(time/0.1)  
     float speed=0.50f;
     int dir=0;
-    int counts_end=;          //amount of counts for 360 degrees rotation of main disk --> many revolutions of motor
+    int counts_end=10000;          //amount of counts for 360 degrees rotation of main disk --> many revolutions of motor
     
     //move towards end
     for (m=1;2;m++){
@@ -50,11 +65,12 @@
         //when motor counts do not change anymore, change direction
         int n=1;
         while(n=1){
-            for (n=1;caltime;n++){
+            /*for (n=1;caltime;n++){
                 if (counts()!=counts_prev){
                     n=0;}
                 else {}
-                wait(0.1);}
+                wait(0.1);}*/
+            wait(5);
             translation_stop();    
             int position=counts();}
         dir=dir+1;
@@ -70,6 +86,8 @@
         wait(0.01);}
     rotate_stop();
     pos_store(counts2());   
+    printf("position 1 = %f, position 2 = %f, position 3 = %f /n",pos1,pos2,pos3);
+    printf("done");
     //End sequence?    
     }