Diff: main.cpp

Revision:

6:bd73804c8cec

Parent:

5:a1fb2d2fb2d0

Child:

7:3b503177ff5c

--- a/main.cpp	Mon Oct 15 09:42:17 2018 +0000
+++ b/main.cpp	Mon Oct 15 10:20:24 2018 +0000
@@ -8,12 +8,14 @@
 InterruptIn but2(D3);
 FastPWM motor1_pwm(D6); //FastPWM input, PES lecture 2
 Ticker MotorInterrupt;
-pc.baud(115200);
+QEI Encoder (D12, D13, NC, 64, QEI::X4_ENCODING);
 
 void Motor()
 {
     // Aflezen Potentiometers voor PWM
     motor1_pwm = pot1.read(); // Aflezen PotMeter 1 (volatile omdat je altijd de potmeter wil blijven lezen)
+    pc.printf("%i\r\n", Encoder.getPulses());
+    
 }
    
 void buttonpress()
@@ -24,14 +26,31 @@
     pc.printf("Velocity is %f \r\n", motor1_velocity);
 }
 
+/*double GetReferenceVelocity()
+{
+    // 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!    
+    double referenceVelocity;  // in rad/s
+    if (button2)   {
+        // Clockwise rotation      
+        referenceVelocity = potMeterIn * maxVelocity;  
+        } 
+        else 
+        {
+        // Counterclockwise rotation       
+        referenceVelocity = -1*potMeterIn * maxVelocity;   
+        }
+    return referenceVelocity; 
+} */
+
+
 int main()
 {
+    pc.baud(115200);
     motor1_pwm.period_us(60.0); // 60 microseconds PWM period, 16.7 kHz, defines all PWM pins (only needs to done once), FastPWM variabele
     MotorInterrupt.attach(Motor, 0.5); // Ticker die de functie Motor aanroept elke halve seconde, meer tijd is tragere respons op potmeter
     but2.rise(buttonpress);
-    int counts;
-    QEI Encoder (D12, D13, NC, 64, QEI::X4_ENCODING);
-    counts = Encoder.getPulses();
-    pc.printf("%i\r\n", counts);
     while(true){} // Endless loop  
 }
\ No newline at end of file