Diff: main.cpp

Revision:

2:abd40da4a5e2

Parent:

1:659489c32e75

Child:

3:cc3766838777

--- a/main.cpp	Wed Oct 04 14:15:39 2017 +0000
+++ b/main.cpp	Wed Oct 04 15:02:08 2017 +0000
@@ -8,15 +8,15 @@
 DigitalOut gpo(D0);
 DigitalOut led(LED_BLUE);
 DigitalOut motor1DC(D7);
-DigitalOut motor1PWM(D6);
+PwmOut motor1PWM(D6);
 DigitalOut motor2DC(D4);
-DigitalOut motor2PWM(D5);
+PwmOut motor2PWM(D5);
 
 AnalogIn   potMeterIn(A0);
 DigitalIn   button1(D11);
 
 MODSERIAL pc(USBTX,USBRX);
-QEI Encoder(D12,D13,NC,32); // Input for the Encoder
+
 
 Ticker controller;
 
@@ -65,24 +65,31 @@
 {
     float referenceVelocity = GetReferenceVelocity();
     float motorValue = FeedForwardControl(referenceVelocity);
-    setMotor1(motorValue);
+    SetMotor1(motorValue);
 }
 
 int main()
 {
     pc.baud(115200);
+    QEI Encoder(D12,D13,NC,32);
            
     //float v = GetReferenceVelocity();
     //float controlValue = FeedForwardControl(v);
     //SetMotor1(controlValue);
     
-    controller.attach(&MeasureAndControl,0.01);
-    
-    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);
+    controller.attach(&MeasureAndControl, 0.1);
     
     while(1)
-    {}
+    {
+         
+         
+        int counts = Encoder.getPulses(); 
+        float rV = GetReferenceVelocity();
+        float mV = FeedForwardControl(rV);
+          
+        pc.printf("\r reference velocity: %f. Motor Value is: %f number of counts: %i\n",mV,rV,counts);
+    }
+   
 }