Diff: main.cpp

Revision:

18:5a1c351094d2

Parent:

15:a0b5c4306246

Child:

19:0e9bf6d61d0d

--- a/main.cpp	Wed Nov 16 00:21:32 2016 +0000
+++ b/main.cpp	Wed Nov 16 02:10:43 2016 +0000
@@ -2,6 +2,7 @@
 #include "Motor.h"
 #include "pot.h"
 #include <time.h>
+
  
 Serial pc(USBTX, USBRX);
 //Use X4 encoding.
@@ -23,7 +24,6 @@
                 wait_ms(200);
                 int coast_pulses_cw = encoder.getPulses();
                 
-                
                 encoder.reset();
                 motor.step_anticlockwise(steps, wait);
                 int pulses_ccw = encoder.getPulses();
@@ -73,7 +73,7 @@
 void calibrate_pendulum(){
     encoder.reset();
     while(1){
-        printf("voltage %%: %f  pulse: %i \r\n", pend.get_voltage(), encoder.getPulses());
+        printf("voltage %%: %f  pulse: %i", pend.get_voltage(), encoder.getPulses());
     }
 }
 void move_pulses(int pulses){ // find number of pulses from the encoder going from one end to the other.
@@ -87,8 +87,40 @@
             motor.anticlockwise();
         } 
 }
+void disttopulse(int distance) //find amount of pulses to distance
+{
+    
+}
+void set_speed(int speed) // wait time correspondence to speed
+{
+        
+}
+
+void test_pulsetodist() // have user input x amount of pulses to move motor a certain distance
+{
+    while(1)
+    {
+        char str[4];
+        int steps = 0;
+        int wait = 1000;
+        time_t start = time(0);
+        double elapsed;      
+        printf("Enter the amount of steps: ");
+        fgets(str,4,stdin);
+        printf("\r\nSteps: %s", str);
+        steps = atoi(str);
+        
+        if(steps > 0)
+            motor.step_clockwise(steps, wait);
+        else
+            motor.step_anticlockwise(steps, wait);
+        elapsed = difftime( time(0), start);
+        printf("\r\nTook %i steps in time: %f \r\n",steps, elapsed);
+    }
+}
 int main() {
-    calibrate_pendulum();
+    while(1)
+        printf("Pulses: %i\r\n", encoder.getPulses());
     //motor.step_clockwise(100,1500);
     //motor.step_clockwise(100,1000);
     //motor.step_clockwise(100,700);