Projectgroep 20 Biorobotics / Mbed 2 deprecated opdrachtweek3hardware

motor voor het eerst aan de praat. Met dit scriptje moet motor 2 links om draaien rechts om draaien en sneller en langzamer draaien met behulp van de 2e potmeter.

Dependencies:   HIDScope MODSERIAL mbed

main.cpp@5:6fac8f640b50, 2017-09-25 (annotated)

Committer:
Miriam
Date:
Mon Sep 25 15:24:06 2017 +0000
Revision:
5:6fac8f640b50
Parent:
4:4afa30c72c57 
motor2 draaien, harder zachter, klok mee klok tegen

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Miriam 0:7af8b67c64f8 1 #include "mbed.h"
Miriam 0:7af8b67c64f8 2 #include "HIDScope.h"
Miriam 0:7af8b67c64f8 3
Miriam 0:7af8b67c64f8 4 HIDScope scope(2); // We're going to send 2 chennels of data
Miriam 0:7af8b67c64f8 5 Ticker AInTicker;
Miriam 4:4afa30c72c57 6 //AnalogIn aIn1(A0);
Miriam 4:4afa30c72c57 7
Miriam 5:6fac8f640b50 8 AnalogIn potmeter2(A1); //Analog input of the potmeter
Miriam 5:6fac8f640b50 9 AnalogIn but2(A2);
Miriam 5:6fac8f640b50 10 PwmOut E1(D6); //Biorobotics Motor 1 PWM control speed
Miriam 5:6fac8f640b50 11 PwmOut E2(D5); //Biorobotics Motor 2 PWM control speed
Miriam 5:6fac8f640b50 12 DigitalOut M2(D4); //Biorobotics Motor 2 direction control (bool)
Miriam 5:6fac8f640b50 13 DigitalOut M1(D7); //Biorobotics Motor 1 direction control (bool)
Miriam 4:4afa30c72c57 14
Miriam 4:4afa30c72c57 15 float PwmPeriod = 1.0/5000.0; //PWM period (5000 Hz)
Miriam 0:7af8b67c64f8 16
Miriam 0:7af8b67c64f8 17 volatile float x;
Miriam 0:7af8b67c64f8 18 volatile float x_prev=0;
Miriam 0:7af8b67c64f8 19 volatile float y; //filtered 'output' of ReadAnalogInAndFilter
Miriam 0:7af8b67c64f8 20
Miriam 0:7af8b67c64f8 21 void ReadAnalogInAndFilter()
Miriam 0:7af8b67c64f8 22 {
Miriam 5:6fac8f640b50 23 x=potmeter2; // Capture data
Miriam 0:7af8b67c64f8 24 scope.set(0,x); //store data in first element of scope memory
Miriam 0:7af8b67c64f8 25 y=(x_prev +x)/2.0; //averaging filter
Miriam 0:7af8b67c64f8 26 scope.set(1,y); // stor data in second element of scope memory
Miriam 0:7af8b67c64f8 27 x_prev=x; //Prepare for next round
Miriam 0:7af8b67c64f8 28
Miriam 0:7af8b67c64f8 29 scope.send(); // send what's in the scope memory to PC
Miriam 0:7af8b67c64f8 30
Miriam 0:7af8b67c64f8 31 }
Miriam 0:7af8b67c64f8 32
Miriam 0:7af8b67c64f8 33 int main ()
Miriam 0:7af8b67c64f8 34 {
Miriam 0:7af8b67c64f8 35 AInTicker.attach(&ReadAnalogInAndFilter, 0.01);
Miriam 4:4afa30c72c57 36
Miriam 5:6fac8f640b50 37 E2.period(PwmPeriod); //Set PWM period at 5000 Hz
Miriam 5:6fac8f640b50 38 M2 = false; // true is met de klok mee evenals false?
Miriam 2:30f6f422c00d 39
Miriam 5:6fac8f640b50 40 while(true)
Miriam 5:6fac8f640b50 41 {
Miriam 5:6fac8f640b50 42 M2 = !M2;
Miriam 5:6fac8f640b50 43 E2 = potmeter2.read(); //Set brightness of let (0,1)
Miriam 5:6fac8f640b50 44 wait(5.0f);
Miriam 2:30f6f422c00d 45 }
Miriam 0:7af8b67c64f8 46 }