Group 9 BioRobotics
/
motor_calibration
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Fork of
motor_calibration
by 
Kenneth Weisbeek
Revision 0:1045216da12e, committed 2018-10-22
- Comitter:
- kweisbeek
- Date:
- Mon Oct 22 11:11:15 2018 +0000
- Child:
- 1:53bb5928adcf
- Commit message:
- V1
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
| mbed.bld | Show annotated file Show diff for this revision Revisions of this file |
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Mon Oct 22 11:11:15 2018 +0000
@@ -0,0 +1,42 @@
+#include "mbed.h"
+
+
+//initial allocations
+DigitalOut dirpin(D4);
+PwmOut pwmpin(D5);
+QEI Encoder(D12,D13,NC,64,QEI::X4_ENCODING);
+
+//volatiles
+volatile counts_prev=0;
+
+//functions
+int counts(){
+ int counts=Encoder.getPulses(); //MAAK NOG AF MET PREVIOUS COUNTS ONTHOUDEN.
+ return counts
+
+
+int main(){
+ 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
+
+ //move towards end
+ for (m=1;2;m++){
+ dirpin.write(dir);
+ pwmpin = speed;
+ int n=1
+ //when motor counts do not change anymore, change direction
+ while(n<(caltime+1)){
+ for (n=1;caltime;n++){
+ if (counts()!=counts_prev){
+ n=0;}
+ else {}
+ wait(0.1);}
+ dir=dir+1;}
+
+
+
+
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Mon Oct 22 11:11:15 2018 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/e95d10626187 \ No newline at end of file