Diff: main.cpp

Revision:

3:cc3766838777

Parent:

2:abd40da4a5e2

Child:

4:983b50758735

--- a/main.cpp	Wed Oct 04 15:02:08 2017 +0000
+++ b/main.cpp	Thu Oct 05 13:10:39 2017 +0000
@@ -6,19 +6,22 @@
 
 
 DigitalOut gpo(D0);
-DigitalOut led(LED_BLUE);
+DigitalOut ledb(LED_BLUE);
+DigitalOut ledr(LED_RED);
+DigitalOut ledg(LED_GREEN);
 DigitalOut motor1DC(D7);
 PwmOut motor1PWM(D6);
 DigitalOut motor2DC(D4);
 PwmOut motor2PWM(D5);
 
-AnalogIn   potMeterIn(A0);
+AnalogIn   potMeterIn1(A0);
+AnalogIn   PotMeterIn2(A1);
+
 DigitalIn   button1(D11);
 
 MODSERIAL pc(USBTX,USBRX);
-
+Ticker controller;
 
-Ticker controller;
 
 float GetReferenceVelocity()
 {
@@ -31,11 +34,15 @@
     
     if (button1)   {
         // Clockwise rotation
-        referenceVelocity = potMeterIn * maxVelocity;
+        referenceVelocity = potMeterIn1 * maxVelocity;
+        ledr = 1;
+        ledb = 0;
         } 
         else {
         // Counterclockwise rotation
-        referenceVelocity = -1*potMeterIn * maxVelocity;
+        referenceVelocity = -1*potMeterIn1 * maxVelocity;
+        ledb = 1;
+        ledr = 0;
         }
     return referenceVelocity;
 }
@@ -68,21 +75,21 @@
     SetMotor1(motorValue);
 }
 
+
+
 int main()
 {
     pc.baud(115200);
     QEI Encoder(D12,D13,NC,32);
-           
-    //float v = GetReferenceVelocity();
-    //float controlValue = FeedForwardControl(v);
-    //SetMotor1(controlValue);
+              
+    ledr = 1;
+    ledb = 1;
+    ledg = 1;
     
     controller.attach(&MeasureAndControl, 0.1);
-    
+       
     while(1)
-    {
-         
-         
+    {      
         int counts = Encoder.getPulses(); 
         float rV = GetReferenceVelocity();
         float mV = FeedForwardControl(rV);