Diff: main.cpp

Revision:

9:b002572e37fd

Parent:

8:ceb9abb5a4a8

Child:

11:4e3ef6150a2e

--- a/main.cpp	Mon Oct 15 12:13:42 2018 +0000
+++ b/main.cpp	Mon Oct 15 13:53:15 2018 +0000
@@ -7,24 +7,27 @@
 AnalogIn potMeter1(A4);
 InterruptIn button2(D3);
 FastPWM motor1_pwm(D6); //FastPWM input, PES lecture 2
+QEI Encoder (D12, D13, NC, 64, QEI::X4_ENCODING);
 Ticker MotorSpeedCounts;
-QEI Encoder (D12, D13, NC, 64, QEI::X4_ENCODING);
+Ticker measurevelocity;
+
+//Global variables
+volatile double RotationalPosition = 0.0;
+volatile double measuredVelocity = 0.0; 
+const double tickertime = 0.001;
 
 void Motor()
 {
     // Aflezen Potentiometers voor PWM
-    float potMeterIn = potMeter1.read(); // Aflezen PotMeter 1
-    motor1_pwm = potMeterIn;
+    motor1_pwm = potMeter1.read(); // Aflezen PotMeter 1
     // Encoder counts printen
-    pc.printf("%i\r\n", Encoder.getPulses());
+    //pc.printf("%i\r\n", Encoder.getPulses());
 }
    
 void changeDirectionButton()
 {
-    motor1_direction = 1 - motor1_direction;
-    
-    //float motor1_velocity = pot1.read() *6.2;
-    //pc.printf("Velocity is %f \r\n", motor1_velocity);
+    motor1_direction = 1 - motor1_direction; //
+    pc.printf("Motor direction value %i \r\n", motor1_direction);
 }
 
 double GetReferenceVelocity()
@@ -32,40 +35,50 @@
     // Returns reference velocity in rad/s. 
     // Positive value means clockwise rotation.
     // 60 rpm = 60*2*pi/60 = 6.28 ~ 6.2 rad/s
-    const float maxVelocity=6.2; // in rad/s of course!    
+    const double maxVelocity=6.2; // in rad/s of course!    
     double referenceVelocity;  // in rad/s
-    if (button2)
-        {
+    switch (motor1_direction)
+    {
+        case 0: // check if motor1_direction is 0  
         // Clockwise rotation      
-        referenceVelocity = potMeterIn * maxVelocity;  
-        } 
-        else
-        {
+        referenceVelocity = potMeter1 * maxVelocity; 
+        pc.printf("Reference velocity is %f. \r\n", referenceVelocity);
+        break;
+        case 1: // check if motor1_direction is 1
         // Counterclockwise rotation       
-        referenceVelocity = -1*potMeterIn * maxVelocity;   
+        referenceVelocity = -1*potMeter1 * maxVelocity;
+        pc.printf("Reference velocity is %f. \r\n", referenceVelocity);
+        break; 
+        default:  
+        pc.printf("Something has gone wrong. \r \n");
         }
     return referenceVelocity;
 }
 
-double GetMeasuredVelocity()
+void GetMeasuredVelocity()
 {
     // Get actual velocity from the motor plant
     // Use encoder (counts)
-    
-    int counts = Encoder.getPulses();
-    double RotationalPosition = ( counts / 4 * 64) * 6.28; // Rotational position in radians   
-    
-    double measuredVelocity;
+    double OldRotationalPosition = RotationalPosition;
+    double counts = Encoder.getPulses();
+    RotationalPosition = ( counts / 4 * 64) * 6.28; // Rotational position in radians   
     // hier komt de berekening van measured velocity
-    return measuredVelocity;
+    double measuredVelocity = (RotationalPosition - OldRotationalPosition) / tickertime;
+    //measuredVelocity defined as global variable, doesn't have to be returned anymore, is stored in memory all the time;
 }
 
 
 int main()
 {
     pc.baud(115200);
+    motor1_direction = 0;
     motor1_pwm.period_us(60.0); // 60 microseconds PWM period, 16.7 kHz, defines all PWM pins (only needs to done once), FastPWM variabele
     MotorSpeedCounts.attach(Motor, 0.5); // Ticker die de functie Motor aanroept elke halve seconde, meer tijd is tragere respons op potmeter
     button2.rise(changeDirectionButton);
+    measurevelocity.attach(GetMeasuredVelocity, tickertime);
+    
+    double referenceSnelheid = GetReferenceVelocity();
+    pc.printf("Reference velocity is %f \r\n Measured velocity is %f. \r\n", referenceSnelheid, measuredVelocity);
+      
     while(true){} // Endless loop  
 }
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