Diff: main.cpp

Revision:

2:7ea5ae2287a7

Parent:

1:a76fd17e18b3

Child:

3:6e28b992b99e

--- a/main.cpp	Mon Oct 28 16:11:15 2019 +0000
+++ b/main.cpp	Mon Oct 28 16:38:46 2019 +0000
@@ -14,6 +14,7 @@
 AnalogIn potmeter2(A1);
 AnalogIn potmeter3(A2);
 AnalogIn potmeter4(A3);
+
 // Encoder
 DigitalIn encA1(D9);
 DigitalIn encB1(D8);
@@ -24,7 +25,8 @@
 float Ts = 0.01;                                //Sample time
 float motor1angle;                              //Measured angle motor 1
 float motor2angle;                              //Measured angle motor 2
-float omega1;                                   //velocity rad/s motor 1
+float potmeter;
+float omega1=1;                                   //velocity rad/s motor 1
 float omega2;                                   //Velocity rad/s motor2
 float deg2rad=0.0174532;                        //Conversion factor degree to rad
 float rad2deg=57.29578;                         //Conversion factor rad to degree
@@ -120,13 +122,12 @@
 
 void motorCalibration1()
 {
-    button1.fall(&togglehoek);
     motor1angle = (counts1 * factorin / gearratio); // Angle of motor shaft in rad
     omega1 = deltaCounts1 / Ts * factorin / gearratio; // Angular velocity of motor shaft in rad/s
     float potmeter=potmeter1.read();
-    controlsignal1=potmeter;
+    controlsignal1=0.0980f;
     motor1Power.write(abs(controlsignal1*motortoggle));
-    motor1Direction=1;
+    motor1Direction=0;
     //Dit moet je doen zolang omega motor 1 > 0.iets
     //State switch
     //Dan motor 2 tot omega < 0.iets
@@ -134,13 +135,12 @@
 
 void motorCalibration2(){
  
-    float potmeter=potmeter1.read();
-    button1.fall(&togglehoek);
+    potmeter=potmeter1.read();
     motor1angle = (counts1 * factorin / gearratio); // Angle of motor shaft in rad
     omega1 = deltaCounts1 / Ts * factorin / gearratio; // Angular velocity of motor shaft in rad/s
     controlsignal1=potmeter;
     motor1Power.write(abs(controlsignal1*motortoggle));
-    motor1Direction=1;    
+    motor1Direction=0;    
     
     motor2angle = (counts2 * factorin / gearratio); // Angle of motor shaft in rad
     omega2 = deltaCounts2 / Ts * factorin / gearratio; // Angular velocity of motor shaft in rad/s 
@@ -150,17 +150,6 @@
     //Dit moet je doen zolang omega van motor 2 > 0.iets  
 }
 
-void Plotje(){
-    scope.set(0,q1*rad2deg); //gewenste hoek
-    scope.set(1,motor1angle/5.5f*rad2deg); //Gemeten hoek
-    scope.set(2,motor1error/5.5f*rad2deg); //verschil in gewenste en gemeten hoek
-    scope.set(3,q2*rad2deg); //gewenste hoek
-    scope.set(4,motor2angle/5.5f*rad2deg); //Gemeten hoek
-    scope.set(5,motor2error/5.5f*rad2deg); //verschil in gewenste en gemeten hoek
-    
-    scope.send(); //send what's in scope memory to PC
-}
-
 void toggleMotor()
 {
     motortoggle = !motortoggle;
@@ -172,15 +161,16 @@
     pc.printf("\r\nStarting...\r\n\r\n");
     motor1Power.period(PWM_period);
     motor2Power.period(PWM_period);
+    
     motorTicker.attach(motorCalibration1, 0.01);         //Dit moet je doen zolang omega < 0.iets
-    motorTicker.attack(motorCalibration2, 0.01);
-    scopeTicker.attach(Plotje, 0.01);
+    //motorTicker.attack(motorCalibration2, 0.01);
     encoderTicker.attach(readEncoder, Ts);
     
     button2.fall(&toggleMotor);
     
     while (true) {
-            pc.printf("Omega1: %f Omega 2: %f  Potmeter: %f \r\n", omega1, omega2, potmeter);
+            potmeter=potmeter1.read();
+            pc.printf("Omega1: %f Omega 2: %f  controlsignal1: %f \r\n", omega1, omega2, controlsignal1);
         wait(0.5);
     }
 }