group14 - k9 / Mbed 2 deprecated motortest_pcontrol

using potmeters as setpoint

Dependencies:   Encoder HIDScope MODSERIAL mbed

main.cpp@0:4bfe85fb30ab, 2015-09-20 (annotated)

Committer:
Vigilance88
Date:
Sun Sep 20 16:15:01 2015 +0000
Revision:
0:4bfe85fb30ab
Child:
1:e0c4625bbbab
test1

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Vigilance88 0:4bfe85fb30ab 1 #include "mbed.h"
Vigilance88 0:4bfe85fb30ab 2 #include "encoder.h"
Vigilance88 0:4bfe85fb30ab 3
Vigilance88 0:4bfe85fb30ab 4
Vigilance88 0:4bfe85fb30ab 5 DigitalOut motor2direction(D6); //D4 en D5 zijn motor 2 (op het motorshield)
Vigilance88 0:4bfe85fb30ab 6 PwmOut motor2speed(D7);
Vigilance88 0:4bfe85fb30ab 7 DigitalOut motor1direction(D4); //D6 en D7 voor motor 1 (op het motorshield)
Vigilance88 0:4bfe85fb30ab 8 PwmOut motor1speed(D5);
Vigilance88 0:4bfe85fb30ab 9 InterruptIn stop_knop(D8);
Vigilance88 0:4bfe85fb30ab 10
Vigilance88 0:4bfe85fb30ab 11
Vigilance88 0:4bfe85fb30ab 12 int main()
Vigilance88 0:4bfe85fb30ab 13 {
Vigilance88 0:4bfe85fb30ab 14 Encoder motor2(D13,D12);
Vigilance88 0:4bfe85fb30ab 15 int position = motor2.getPosition();
Vigilance88 0:4bfe85fb30ab 16 Serial pc(USBTX,USBRX);
Vigilance88 0:4bfe85fb30ab 17 pc.baud(9600);
Vigilance88 0:4bfe85fb30ab 18 motor2speed=0.0f;
Vigilance88 0:4bfe85fb30ab 19 motor2direction=1;
Vigilance88 0:4bfe85fb30ab 20 wait(0.5);
Vigilance88 0:4bfe85fb30ab 21
Vigilance88 0:4bfe85fb30ab 22 if(stop_knop.read() == 0) {
Vigilance88 0:4bfe85fb30ab 23 motor2speed=0.0f;
Vigilance88 0:4bfe85fb30ab 24 }
Vigilance88 0:4bfe85fb30ab 25 while (true) {
Vigilance88 0:4bfe85fb30ab 26
Vigilance88 0:4bfe85fb30ab 27 while (position <= 12000) {
Vigilance88 0:4bfe85fb30ab 28 motor2direction = 1;
Vigilance88 0:4bfe85fb30ab 29 motor2speed = 0.1f;
Vigilance88 0:4bfe85fb30ab 30 wait(0.1);
Vigilance88 0:4bfe85fb30ab 31 pc.printf("while1: pos: %d, speed %f \r\n",motor2.getPosition(), motor2.getSpeed());
Vigilance88 0:4bfe85fb30ab 32 }
Vigilance88 0:4bfe85fb30ab 33 while (position >= 70000) {
Vigilance88 0:4bfe85fb30ab 34 motor2direction = 0;
Vigilance88 0:4bfe85fb30ab 35 motor2speed = 0.1f;
Vigilance88 0:4bfe85fb30ab 36 wait(0.1);
Vigilance88 0:4bfe85fb30ab 37 pc.printf("while2: pos: %d, speed %f \r\n",motor2.getPosition(), motor2.getSpeed());
Vigilance88 0:4bfe85fb30ab 38 }
Vigilance88 0:4bfe85fb30ab 39 while (position <= 700 && position >=4) {
Vigilance88 0:4bfe85fb30ab 40 motor2speed = 0.1f;
Vigilance88 0:4bfe85fb30ab 41 wait(0.1);
Vigilance88 0:4bfe85fb30ab 42 }
Vigilance88 0:4bfe85fb30ab 43 }
Vigilance88 0:4bfe85fb30ab 44 }