Juliette Slob / Mbed 2 deprecated PES_tutorial_5_copy

Using HIDScope for P(I)D controller

Dependencies:   FastPWM HIDScope MODSERIAL QEI biquadFilter mbed

Fork of PES_tutorial_5 by BMT Module 9 Group 4

main.cpp@4:49c5fd62a192, 2018-10-15 (annotated)

Committer:
lweersink
Date:
Mon Oct 15 09:39:06 2018 +0000
Revision:
4:49c5fd62a192
Parent:
3:ea819bcf667f
Child:
5:a1fb2d2fb2d0
Encoder uitlezen

Who changed what in which revision?

UserRevisionLine numberNew contents of line
1856413 0:2e33035d4e86 1 #include "mbed.h"
1856413 0:2e33035d4e86 2 #include "FastPWM.h" // FastPWM library
1856413 2:34c14fb36b5d 3 #include "MODSERIAL.h"
lweersink 4:49c5fd62a192 4 #include "QEI.h"
1856413 2:34c14fb36b5d 5 MODSERIAL pc(USBTX, USBRX);
1856413 0:2e33035d4e86 6 DigitalOut motor1_direction(D7);
1856413 0:2e33035d4e86 7 AnalogIn pot1(A4);
1856413 1:c19fc63d555f 8 InterruptIn but2(D3);
1856413 1:c19fc63d555f 9 FastPWM motor1_pwm(D6); //FastPWM input, PES lecture 2
1856413 0:2e33035d4e86 10 Ticker MotorInterrupt;
lweersink 4:49c5fd62a192 11 pc.baud(115200);
1856413 0:2e33035d4e86 12 void Motor()
1856413 0:2e33035d4e86 13 {
1856413 1:c19fc63d555f 14 // Aflezen Potentiometers voor PWM
1856413 1:c19fc63d555f 15 motor1_pwm = pot1.read(); // Aflezen PotMeter 1 (volatile omdat je altijd de potmeter wil blijven lezen)
1856413 0:2e33035d4e86 16 }
1856413 1:c19fc63d555f 17
1856413 1:c19fc63d555f 18 void buttonpress()
1856413 1:c19fc63d555f 19 {
1856413 3:ea819bcf667f 20 motor1_direction = 1 - motor1_direction;
1856413 3:ea819bcf667f 21 float motor1_velocity = pot1.read() *2.0;
lweersink 4:49c5fd62a192 22
1856413 2:34c14fb36b5d 23 pc.printf("Velocity is %f \n", motor1_velocity);
1856413 1:c19fc63d555f 24 }
1856413 0:2e33035d4e86 25
1856413 0:2e33035d4e86 26 int main()
1856413 0:2e33035d4e86 27 {
1856413 0:2e33035d4e86 28 motor1_pwm.period_us(60.0); // 60 microseconds PWM period, 16.7 kHz, defines all PWM pins (only needs to done once), FastPWM variabele
1856413 0:2e33035d4e86 29 MotorInterrupt.attach(Motor, 0.5); // Ticker die de functie Motor aanroept elke halve seconde, meer tijd is tragere respons op potmeter
lweersink 4:49c5fd62a192 30 but2.rise(buttonpress);
lweersink 4:49c5fd62a192 31 int counts;
lweersink 4:49c5fd62a192 32 QEI Encoder (D12, D13, NC, 64, QEI::X4_ENCODING);
lweersink 4:49c5fd62a192 33 counts = Encoder.getPulses();
lweersink 4:49c5fd62a192 34 pc.printf("%i\r\n", counts);
1856413 0:2e33035d4e86 35 while(true){} // Endless loop
1856413 0:2e33035d4e86 36 }