Diff: main.cpp

Revision:

1:659489c32e75

Parent:

0:1816743ba8ba

Child:

2:abd40da4a5e2

--- a/main.cpp	Wed Oct 04 12:46:37 2017 +0000
+++ b/main.cpp	Wed Oct 04 14:15:39 2017 +0000
@@ -7,8 +7,8 @@
 
 DigitalOut gpo(D0);
 DigitalOut led(LED_BLUE);
-DigitalOut motor1DC(D6);
-DigitalOut motor1PWM(D7);
+DigitalOut motor1DC(D7);
+DigitalOut motor1PWM(D6);
 DigitalOut motor2DC(D4);
 DigitalOut motor2PWM(D5);
 
@@ -16,6 +16,9 @@
 DigitalIn   button1(D11);
 
 MODSERIAL pc(USBTX,USBRX);
+QEI Encoder(D12,D13,NC,32); // Input for the Encoder
+
+Ticker controller;
 
 float GetReferenceVelocity()
 {
@@ -52,30 +55,34 @@
     // bits for motor 1. Positive value makes motor rotating
     // clockwise. motorValues outside range are truncated to
     // within range
-    if (motorValue >=0) motor1DC=1;
+    if (motorValue >=0) motor1DC= 1;
         else motor1DC=0;
     if (fabs(motorValue)>1) motor1PWM = 1;
         else motor1PWM = fabs(motorValue);
 }
 
+void MeasureAndControl(void)
+{
+    float referenceVelocity = GetReferenceVelocity();
+    float motorValue = FeedForwardControl(referenceVelocity);
+    setMotor1(motorValue);
+}
+
 int main()
 {
     pc.baud(115200);
-    
-    QEI Encoder(D12,D13,NC,32); // Input for the Encoder
+           
+    //float v = GetReferenceVelocity();
+    //float controlValue = FeedForwardControl(v);
+    //SetMotor1(controlValue);
     
-    while (true) {
-        
-    float v = GetReferenceVelocity();
-    float controlValue = FeedForwardControl(v);
-    SetMotor1(controlValue);
+    controller.attach(&MeasureAndControl,0.01);
     
-    int counts;
-    counts = Encoder.getPulses();
-    pc.printf("\r number of counts: %i\n",counts);
-        
-    pc.printf("\t\r reference velocity is: %f. Motor Value is: %f \t\r number of counts: %i\n",v,controlValue,counts);
-    }
+    int counts = Encoder.getPulses();       
+    pc.printf("\r `control value: %f reference velocity: %f. Motor Value is: %f number of counts: %i\n",referenceVelocity ,motorValue,counts);
+    
+    while(1)
+    {}
 }