Diff: main.cpp

Revision:

2:ea985bb173f6

Parent:

1:53bb5928adcf

Child:

3:d519ec330c31

--- a/main.cpp	Fri Oct 26 07:36:28 2018 +0000
+++ b/main.cpp	Fri Oct 26 07:51:43 2018 +0000
@@ -3,7 +3,9 @@
 
 //initial allocations
 DigitalOut dirpin(D4);
+DigitalOut dirpin2(D7);
 PwmOut pwmpin(D5);
+PwmOut pwmpin2(D6);
 QEI Encoder(D12,D13,NC,64,QEI::X4_ENCODING);
 
 
@@ -13,17 +15,23 @@
 
 
 
-//functions (4 functions not finished)
+//functions (2 functions not finished)
 int 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 rotate_start(){}                    //start rotation of disk
-
+void translation_start(a,b);            //start rail motor
+        dirpin.write(a);
+        pwmpin = b;                        
+void translation_stop();                //stop rail motor
+        pwmpin = 0;     
+void rotate_start(a,b){}                    //start rotation of disk
+        dirpin2.write(a);
+        pwmpin2 = b; 
 void rotate_stop(){}                     //stop rotation of disk
-
+        pwmpin2 = 0; 
 
 
 //main function
@@ -38,8 +46,7 @@
     
     //move towards end
     for (m=1;2;m++){
-        dirpin.write(dir);
-        pwmpin = speed;
+        translation_start(dir,speed);
         //when motor counts do not change anymore, change direction
         int n=1;
         while(n=1){
@@ -48,9 +55,10 @@
                     n=0;}
                 else {}
                 wait(0.1);}
+            translation_stop();    
             int position=counts();}
-            dir=dir+1;
-            pos_store(position);}   //stores position integer
+        dir=dir+1;
+        pos_store(position);}   //stores position integer
     
     //Check if a full circle can be made without obstruction
         //Try adding a timer as well, you know how long it should take, how long does it actually take? Does that matter?