groep 16 / Mbed OS MoveMotors

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Dependencies:   QEI MODSERIAL

main.cpp@0:6986a58c4515, 2019-10-04 (annotated)

Committer:
JonaVonk
Date:
Fri Oct 04 08:25:00 2019 +0000
Revision:
0:6986a58c4515
Child:
1:363c5230fe25
commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
JonaVonk 0:6986a58c4515 1 /* mbed Microcontroller Library
JonaVonk 0:6986a58c4515 2 * Copyright (c) 2018 ARM Limited
JonaVonk 0:6986a58c4515 3 * SPDX-License-Identifier: Apache-2.0
JonaVonk 0:6986a58c4515 4 */
JonaVonk 0:6986a58c4515 5
JonaVonk 0:6986a58c4515 6 #include "mbed.h"
JonaVonk 0:6986a58c4515 7 #include "MODSERIAL.h"
JonaVonk 0:6986a58c4515 8
JonaVonk 0:6986a58c4515 9
JonaVonk 0:6986a58c4515 10 DigitalOut M1(D4);
JonaVonk 0:6986a58c4515 11 DigitalOut M2(D7);
JonaVonk 0:6986a58c4515 12 PwmOut E1(D5);
JonaVonk 0:6986a58c4515 13 PwmOut E2(D6);
JonaVonk 0:6986a58c4515 14 AnalogIn Pot1(A0);
JonaVonk 0:6986a58c4515 15 AnalogIn Pot2(A1);
JonaVonk 0:6986a58c4515 16 DigitalIn M1A(D2);
JonaVonk 0:6986a58c4515 17 DigitalIn M1B(D3);
JonaVonk 0:6986a58c4515 18
JonaVonk 0:6986a58c4515 19 float potVal1;
JonaVonk 0:6986a58c4515 20 float potVal2;
JonaVonk 0:6986a58c4515 21 int EncA1;
JonaVonk 0:6986a58c4515 22 int EncB1;
JonaVonk 0:6986a58c4515 23 int counts = 0;
JonaVonk 0:6986a58c4515 24
JonaVonk 0:6986a58c4515 25 //Ticker readEnc
JonaVonk 0:6986a58c4515 26
JonaVonk 0:6986a58c4515 27 MODSERIAL pc(USBTX, USBRX);
JonaVonk 0:6986a58c4515 28
JonaVonk 0:6986a58c4515 29
JonaVonk 0:6986a58c4515 30
JonaVonk 0:6986a58c4515 31
JonaVonk 0:6986a58c4515 32 // main() runs in its own thread in the OS
JonaVonk 0:6986a58c4515 33 int main(){
JonaVonk 0:6986a58c4515 34 pc.baud(9600);
JonaVonk 0:6986a58c4515 35 while(true){
JonaVonk 0:6986a58c4515 36 potVal1 = Pot1.read();
JonaVonk 0:6986a58c4515 37 potVal2 = Pot2.read();
JonaVonk 0:6986a58c4515 38 if (potVal1 > 0.5){
JonaVonk 0:6986a58c4515 39 M1 = 1;
JonaVonk 0:6986a58c4515 40 E1 = potVal1-0.5;
JonaVonk 0:6986a58c4515 41 }else{
JonaVonk 0:6986a58c4515 42 M1 = 0;
JonaVonk 0:6986a58c4515 43 E1 = -(potVal1-0.5);
JonaVonk 0:6986a58c4515 44 }
JonaVonk 0:6986a58c4515 45 if (potVal2 > 0.5){
JonaVonk 0:6986a58c4515 46 M2 = 1;
JonaVonk 0:6986a58c4515 47 E2 = potVal2-0.5;
JonaVonk 0:6986a58c4515 48 }else{
JonaVonk 0:6986a58c4515 49 M2 = 0;
JonaVonk 0:6986a58c4515 50 E2 = -(potVal2-0.5);
JonaVonk 0:6986a58c4515 51 }
JonaVonk 0:6986a58c4515 52 pc.printf("Pot1: %f \t Pot2: %f \n\r", potVal1, potVal2);
JonaVonk 0:6986a58c4515 53 }
JonaVonk 0:6986a58c4515 54 }