speed increment for loop
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?
User | Revision | Line number | New 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 | } |