Diff: main.cpp

Revision:

11:ed9539245ea0

Parent:

8:2abfdbf5a3b8

Child:

13:ab5a6ab6c492

Child:

14:67a4e886387f

diff -r e7e98246ef58 -r ed9539245ea0 main.cpp
--- a/main.cpp	Fri Nov 11 21:25:31 2016 +0000
+++ b/main.cpp	Mon Nov 14 20:57:21 2016 +0000
@@ -7,8 +7,8 @@
 //QEI wheel(p29, p30, NC, 624, QEI::X4_ENCODING);
 //Use X2 encoding by default.
 QEI encoder (PTC16, PTC17, PTB9, 512);
-Motor motor(PTC4, PTD0, PTC3, PTC12, PTB23, 1000);
-Pot pend(PTC10); 
+Motor motor(PTC4, PTD0, PTC3, PTC12, PTB23, 2000);
+Pot pend(PTC10,0); 
 void test_distance(){
     int wait = 1000;
     int steps = 100;
@@ -40,16 +40,30 @@
     }       
 }
 
-void test_speed(){
 
-}
 void test_pendulum(){
     while(1){
         printf("angle: %f \r\n", pend.get_angle());   
     }
 }
+void calibrate_pendulum(){
+    encoder.reset();
+    while(1){
+        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.
+    int start = encoder.getPulses();
+    if(pulses >=0){
+        while(encoder.getPulses() < start + pulses){
+            motor.clockwise();    
+        } 
+    }else{
+        while(encoder.getPulses() > start + pulses)
+            motor.anticlockwise();
+        } 
+}
 int main() {
-    
     test_pendulum();
     //motor.step_clockwise(100,1500);
     //motor.step_clockwise(100,1000);