Functie van het slaan van de bal
Dependencies: Encoder HIDScope mbed-dsp mbed MODSERIAL
main.cpp@4:ce3d15797939, 2014-10-28 (annotated)
- Committer:
- BasvanBuuren
- Date:
- Tue Oct 28 14:04:21 2014 +0000
- Revision:
- 4:ce3d15797939
- Parent:
- 3:e0389c90de3d
- Child:
- 5:daf561abb67d
Werkende versie, nog geen PID onderzoek
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
BasvanBuuren | 0:8af618dc161b | 1 | #include "mbed.h" |
BasvanBuuren | 0:8af618dc161b | 2 | #include "HIDScope.h" |
BasvanBuuren | 0:8af618dc161b | 3 | //#include "mbed-dsp.h" |
BasvanBuuren | 0:8af618dc161b | 4 | #include "encoder.h" |
BasvanBuuren | 1:729c475805f5 | 5 | #include <iostream> |
BasvanBuuren | 0:8af618dc161b | 6 | |
BasvanBuuren | 1:729c475805f5 | 7 | #define MAXENCO 300 |
BasvanBuuren | 0:8af618dc161b | 8 | #define MINENCO 0 |
BasvanBuuren | 0:8af618dc161b | 9 | |
BasvanBuuren | 0:8af618dc161b | 10 | Encoder encoderA(PTD0,PTD2); |
BasvanBuuren | 1:729c475805f5 | 11 | PwmOut m1_speedout(PTA5); |
BasvanBuuren | 0:8af618dc161b | 12 | DigitalOut m1_dir(PTA4); |
BasvanBuuren | 0:8af618dc161b | 13 | |
BasvanBuuren | 3:e0389c90de3d | 14 | void slam(); |
BasvanBuuren | 0:8af618dc161b | 15 | int y1; |
BasvanBuuren | 1:729c475805f5 | 16 | float m1_speed; |
BasvanBuuren | 0:8af618dc161b | 17 | |
BasvanBuuren | 3:e0389c90de3d | 18 | void slam() |
BasvanBuuren | 0:8af618dc161b | 19 | { |
BasvanBuuren | 0:8af618dc161b | 20 | float enca; |
BasvanBuuren | 0:8af618dc161b | 21 | enca=encoderA.getPosition(); |
BasvanBuuren | 0:8af618dc161b | 22 | |
BasvanBuuren | 3:e0389c90de3d | 23 | //if (enca <= 0) |
BasvanBuuren | 0:8af618dc161b | 24 | { |
BasvanBuuren | 0:8af618dc161b | 25 | switch(y1) |
BasvanBuuren | 0:8af618dc161b | 26 | { |
BasvanBuuren | 0:8af618dc161b | 27 | |
BasvanBuuren | 0:8af618dc161b | 28 | case 1: |
BasvanBuuren | 0:8af618dc161b | 29 | m1_dir=1; |
BasvanBuuren | 0:8af618dc161b | 30 | m1_speed=0.33; |
BasvanBuuren | 1:729c475805f5 | 31 | m1_speedout=m1_speed; |
BasvanBuuren | 0:8af618dc161b | 32 | break; |
BasvanBuuren | 0:8af618dc161b | 33 | case 2: |
BasvanBuuren | 0:8af618dc161b | 34 | m1_dir=1; |
BasvanBuuren | 0:8af618dc161b | 35 | m1_speed=0.66; |
BasvanBuuren | 1:729c475805f5 | 36 | m1_speedout=m1_speed; |
BasvanBuuren | 0:8af618dc161b | 37 | break; |
BasvanBuuren | 0:8af618dc161b | 38 | case 3: |
BasvanBuuren | 0:8af618dc161b | 39 | m1_dir=1; |
BasvanBuuren | 0:8af618dc161b | 40 | m1_speed=1.0; |
BasvanBuuren | 1:729c475805f5 | 41 | m1_speedout=m1_speed; |
BasvanBuuren | 0:8af618dc161b | 42 | break; |
BasvanBuuren | 0:8af618dc161b | 43 | default : |
BasvanBuuren | 0:8af618dc161b | 44 | m1_speed=0; |
BasvanBuuren | 0:8af618dc161b | 45 | } |
BasvanBuuren | 1:729c475805f5 | 46 | while (enca < MAXENCO) |
BasvanBuuren | 1:729c475805f5 | 47 | { |
BasvanBuuren | 1:729c475805f5 | 48 | enca=encoderA.getPosition(); |
BasvanBuuren | 1:729c475805f5 | 49 | cout << enca << endl; |
BasvanBuuren | 1:729c475805f5 | 50 | } |
BasvanBuuren | 0:8af618dc161b | 51 | m1_speed=0; |
BasvanBuuren | 1:729c475805f5 | 52 | m1_speedout=m1_speed; |
BasvanBuuren | 0:8af618dc161b | 53 | m1_dir=0; |
BasvanBuuren | 2:f86efc62a093 | 54 | cout << "blieb!" << endl; |
BasvanBuuren | 2:f86efc62a093 | 55 | m1_speed=0.4; |
BasvanBuuren | 2:f86efc62a093 | 56 | m1_speedout=m1_speed; |
BasvanBuuren | 1:729c475805f5 | 57 | while(enca > MINENCO) |
BasvanBuuren | 0:8af618dc161b | 58 | { |
BasvanBuuren | 1:729c475805f5 | 59 | enca=encoderA.getPosition(); |
BasvanBuuren | 2:f86efc62a093 | 60 | cout << enca << endl; |
BasvanBuuren | 0:8af618dc161b | 61 | } |
BasvanBuuren | 0:8af618dc161b | 62 | m1_speed=0; |
BasvanBuuren | 1:729c475805f5 | 63 | m1_speedout=m1_speed; |
BasvanBuuren | 0:8af618dc161b | 64 | } |
BasvanBuuren | 0:8af618dc161b | 65 | } |
BasvanBuuren | 0:8af618dc161b | 66 | |
BasvanBuuren | 0:8af618dc161b | 67 | int main() |
BasvanBuuren | 0:8af618dc161b | 68 | { |
BasvanBuuren | 0:8af618dc161b | 69 | while(1) |
BasvanBuuren | 0:8af618dc161b | 70 | { |
BasvanBuuren | 1:729c475805f5 | 71 | cin >> y1; |
BasvanBuuren | 1:729c475805f5 | 72 | cout << y1 << endl; |
BasvanBuuren | 3:e0389c90de3d | 73 | slam(); |
BasvanBuuren | 0:8af618dc161b | 74 | } |
BasvanBuuren | 0:8af618dc161b | 75 | } |