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Facking kut filter werkt EINDELIJK !311!!111!!1!!!!!!!!!!!!!!!!!!!
Dependencies: HIDScope MODSERIAL Matrix QEI biquadFilter mbed
Fork of Turning_Motor_V6 by
Diff: main.cpp
- Revision:
- 0:4591ba678a39
- Child:
- 1:4bf64d003f3a
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main.cpp Mon Oct 15 13:32:30 2018 +0000 @@ -0,0 +1,67 @@ +#include "mbed.h" +#include "MODSERIAL.h" +MODSERIAL pc(USBTX, USBRX); +DigitalOut DirectionPin1(D4); +PwmOut PwmPin1(D5); +DigitalIn Knop1(D2); +AnalogIn pot1 (A5); + +Ticker mycontrollerTicker; +Ticker printTicker; +Ticker Velo; +volatile bool printer; +const float maxVelocity=8.4; // in rad/s +volatile float referenceVelocity = 0.5; //dit is de gecentreerde waarde en dus de nulstand + +void velocityref_print() +{ + printer = true; +} + +void velocity() + { + if (pot1.read()>0.5f) + { + // Clockwise rotation + referenceVelocity = (pot1.read()-0.5f) * 2.0f; + } + + else if (pot1.read() == 0.5f) + { + referenceVelocity = pot1.read() * 0.0f; + } + + else if (pot1.read() < 0.5f) + { + // Counterclockwise rotation + referenceVelocity = 2.0f * (pot1.read()-0.5f) ; + } + + } + + void motor() + { + float u = referenceVelocity; + DirectionPin1 = u < 0.0f; + PwmPin1 = fabs(u); + } + + +int main() +{ + pc.baud(115200); + PwmPin1.period_us(120); //60 microseconds pwm period, 16.7 kHz + mycontrollerTicker.attach(motor, 0.002);//500Hz + printTicker.attach(velocityref_print, 0.5); + Velo.attach(velocity, 0.002); + while(true) + { + if (printer) + { + pc.printf("%f \n",referenceVelocity); + pc.printf("%f \n",pot1.read()); + printer = false; + } + } +} +