Revision 2:1656c259189f, committed 2015-09-23

Comitter:

Vigilance88

Date:

Wed Sep 23 09:16:11 2015 +0000

Parent:

1:e0c4625bbbab

Commit message:

using buttons on shield to run in a certain direction

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MODSERIAL.lib	Wed Sep 23 09:16:11 2015 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/Sissors/code/MODSERIAL/#6ffa97119f4f

--- a/main.cpp	Sun Sep 20 16:31:03 2015 +0000
+++ b/main.cpp	Wed Sep 23 09:16:11 2015 +0000
@@ -1,26 +1,67 @@
 #include "mbed.h"
 #include "encoder.h"
+#include "MODSERIAL.h"
 
- 
-Encoder encoder1(D13,D12);
-DigitalOut motor2direction(D4); //D4 en D5 zijn motor 2 (op het motorshield)
-PwmOut motor2speed(D5);
- 
- 
-int main()
+volatile bool looptimerflag;
+
+void setlooptimerflag(void)
 {
-    int position = encoder1.getPosition();
-    Serial pc(USBTX,USBRX);
+    looptimerflag = true;
+} 
+ 
+int main(){
+    //VARIABLES
+    AnalogIn potmeter(A1);
+    AnalogIn potmeter2(A0);
+    MODSERIAL pc(USBTX,USBRX);
+    DigitalIn button(PTA1);
+    DigitalIn button1(PTB9);
+    
+    Encoder motor1(D13,D12,true);   // channel A and B from encoder, true - getSpeed works
+    PwmOut pwm_motor1(D6);          // D4 and D5 = motor 2, D7 and D6 = motor 2  
+    DigitalOut dir_motor1(D7);      // 
+    
+    Encoder motor2(D10,D9,true);   // channel A and B from encoder, true - getSpeed works
+    PwmOut pwm_motor2(D5);          // D4 and D5 = motor 2, D7 and D6 = motor 2  
+    DigitalOut dir_motor2(D4);      // 
+    
+    // MOTOR1
+    float goal;
+    float pwm_to_motor;  
+    // MOTOR2
+    float goal2;
+    float pwm_to_motor2;  
+        
+    //CODE
     pc.baud(9600);
-    motor2speed=0.0f;
-    motor2direction=1;
-   
     
-    if(stop_knop.read() == 0) {
-        motor2speed=0.0f;
-    }
-    while (true) {
+    //pwm_motor1.write(0.2f);         // Speed
+    //dir_motor1.write(1);            // Direction
+   
+    Ticker looptimer;
+    looptimer.attach(setlooptimerflag,0.01);  
+
+    while (1) {
+        while(looptimerflag != true);
+        looptimerflag = false;
         
-          pc.printf("pos: %d, speed %f \r\n",encoder1.getPosition(), encoder1.getSpeed());
+        //MOTOR1
+        if (button.read() < 0.5) {        //button pressed - direction
+            dir_motor2.write(1);
+            pwm_motor2.write(0.5);  
+            pc.printf("position = %d \r\n", motor2.getPosition());
+        } 
+        else if(button1.read() < 0.5) {   //button pressed - other direction
+            dir_motor2.write(0);
+            pwm_motor2.write(0.5);  
+            pc.printf("position = %d \r\n", motor2.getPosition());
+        } 
+        else {                            //button not pressed
+           dir_motor2.write(0);
+           pwm_motor2.write(0);
+           pc.printf("position = %d \r\n", motor2.getPosition());
+        }
+           
+        // pc.printf("pos: %d, speed %f \r\n",motor1.getPosition(), motor1.getSpeed());
     }
 }
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