File content as of revision 11:4e3ef6150a2e:

#include "mbed.h"
#include "FastPWM.h"    // FastPWM library
#include "MODSERIAL.h"
#include "QEI.h"
MODSERIAL pc(USBTX, USBRX);
DigitalOut motor1_direction(D7);
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;
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
    motor1_pwm = potMeter1.read(); // Aflezen PotMeter 1
    
    // Encoder counts printen
    //pc.printf("%i\r\n", Encoder.getPulses());
}*/

double ReferencePosition()
{
   double y_ref = 314.0*potMeter1.read(); // Reference value y, scaled from 0 to 100 pi
   pc.printf('Value potmeter is %f\r\n', y_ref);
   return y_ref;
}

double EncoderPosition()
{
    double OldRotationalPosition = RotationalPosition;
    double counts = Encoder.getPulses();
    RotationalPosition = ( counts / 4.0 * 64.0) * 6.28; // Rotational position in radians   
    return RotationalPosition;
} 

void PositionGain()
{
    double Kp = 10.0*potMeter2.read(); // Scale 0 to 10
}
    

void changeDirectionButton()
{
    motor1_direction = 1 - motor1_direction; //
    pc.printf("Motor direction value %i \r\n", motor1_direction);
}

/* 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 double maxVelocity=6.2; // in rad/s of course!    
    double referenceVelocity;  // in rad/s
    switch (motor1_direction)
    {
        case 0: // check if motor1_direction is 0  
        // Clockwise rotation      
        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*potMeter1 * maxVelocity;
        pc.printf("Reference velocity is %f. \r\n", referenceVelocity);
        break; 
        default:  
        pc.printf("Something has gone wrong. \r \n");
        }
    return referenceVelocity;
} */

/*void GetMeasuredVelocity()
{
    // Get actual velocity from the motor plant
    // Use encoder (counts)
    double OldRotationalPosition = RotationalPosition;
    double counts = Encoder.getPulses();
    RotationalPosition = ( counts / 4 * 64) * 6.28; // Rotational position in radians   
    // hier komt de berekening van measured velocity
    double measuredVelocity = (RotationalPosition - OldRotationalPosition) / tickertime;
    //measuredVelocity defined as global variable, doesn't have to be returned anymore, is stored in memory all the time;
}*/

double Error()
{
    double Error = ReferencePosition()-EncoderPosition();
    return Error;
}

int main()
{
    pc.baud(115200);
    bool 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(ReferencePosition, 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(Error ==! 0)          // when reference postion is reached, stop with the while loop
    {
        MotorSpeedCounts.attach(PositionGain,0.5);
    }
}