TeamRöbi / Mbed 2 deprecated DC_Motor_Ansteuern

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Dependencies:   mbed

main.cpp

Committer:
kuni97
Date:
2020-03-09
Revision:
0:55725179457f

File content as of revision 0:55725179457f:

#include "mbed.h"
#include "EncoderCounter.h"

DigitalOut myled(LED1);
DigitalOut enable(PB_15);

// initialise PWM
PwmOut pwm_motor1(PB_13);
PwmOut pwm_motor2(PA_9);
PwmOut pwm_motor3(PA_10);

// crete Encoder read objects
EncoderCounter counter1(PA_6, PC_7); // counter(pin A, pin B)
EncoderCounter counter2(PB_6, PB_7);
EncoderCounter counter3(PA_0, PA_1);

DigitalIn user_button(USER_BUTTON);

int main()
{
    // initialise PWM
    pwm_motor1.period(0.0005f);// 0.5ms 2KHz
    pwm_motor1.write(0.5f);
    pwm_motor2.period(0.0005f);// 0.5ms 2KHz
    pwm_motor2.write(0.5f);
    pwm_motor3.period(0.0005f);// 0.5ms 2KHz
    pwm_motor3.write(0.5f);
    
    printf("initialization succesfull\n\r");

    while (1) {

        if(!user_button) {            
            // LED off, PWM 60%
            myled = 0;
            enable = 1;
            pwm_motor1.write(0.6f);
            pwm_motor2.write(0.6f);
            pwm_motor3.write(0.6f);

            
        } else {
            // LED on, PWM 50% (no motion)     
            enable = 0;
            myled = 1;
            pwm_motor1.write(0.5f);
            pwm_motor2.write(0.5f);
            pwm_motor3.write(0.5f);
        }


        // display encoder values to console
        printf("counter1 = %d counter2 = %d counter3 = %d\r\n",counter1.read(),counter2.read(),counter3.read());

        wait(0.02f); // Takt 0.02s, 50Hz
        
    }

}