Fernon Eijkhoudt / Mbed 2 deprecated RoboBirdV1

Alles in 1

Dependencies:   Encoder HIDScope MODSERIAL QEI mbed

Fork of RoboBird3 by Fernon Eijkhoudt

main.cpp@6:cf20f04dbab4, 2015-09-28 (annotated)

Committer:
Fernon
Date:
Mon Sep 28 18:47:56 2015 +0000
Revision:
6:cf20f04dbab4
Parent:
5:d47e6a96256b
Child:
7:2042e359bfc3
test1

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Fernon 0:5a5f417fa1b2 1 #include "mbed.h"
Fernon 0:5a5f417fa1b2 2 #include "QEI.h"
Fernon 5:d47e6a96256b 3 #include "math.h"
Fernon 0:5a5f417fa1b2 4
Fernon 1:bb11e38dda43 5 DigitalOut Direction(D4); //1 = CCW - 0 = CW
Fernon 1:bb11e38dda43 6 PwmOut PowerMotor(D5); //van 0 tot 1
Fernon 1:bb11e38dda43 7 AnalogIn PotMeter(A1);
Fernon 1:bb11e38dda43 8 QEI Encoder(D13,D12,NC,32,QEI::X2_ENCODING); //Encoder
Fernon 1:bb11e38dda43 9 Serial pc(USBTX, USBRX);
Fernon 2:f0e9ffc5df09 10 Ticker Pot;
Fernon 5:d47e6a96256b 11 Ticker PC;
Fernon 0:5a5f417fa1b2 12
Fernon 6:cf20f04dbab4 13 double z=0;
Fernon 5:d47e6a96256b 14 const double twopi = 6.2831853071795;
Fernon 5:d47e6a96256b 15 const double pi = pi/2;
Fernon 5:d47e6a96256b 16 int Pulses;
Fernon 5:d47e6a96256b 17 double Rotatie;
Fernon 5:d47e6a96256b 18 double Rotatietwopi;
Fernon 2:f0e9ffc5df09 19
Fernon 5:d47e6a96256b 20 void readpot()
Fernon 2:f0e9ffc5df09 21 {
Fernon 6:cf20f04dbab4 22 z = PotMeter.read();
Fernon 5:d47e6a96256b 23 }
Fernon 5:d47e6a96256b 24
Fernon 5:d47e6a96256b 25 void print()
Fernon 5:d47e6a96256b 26 {
Fernon 6:cf20f04dbab4 27 //pc.printf ("Potmeter = %f\n", z); // het weergeven van de waarde waar z (PotMeter) op dat moment is
Fernon 6:cf20f04dbab4 28 //pc.printf ("Rotatie = %f [pi radialen] \n", Rotatietwopi);
Fernon 2:f0e9ffc5df09 29 }
Fernon 0:5a5f417fa1b2 30
Fernon 0:5a5f417fa1b2 31 int main()
Fernon 0:5a5f417fa1b2 32 {
Fernon 2:f0e9ffc5df09 33 pc.baud(115200);
Fernon 2:f0e9ffc5df09 34 PowerMotor.write(0);
Fernon 6:cf20f04dbab4 35 Pot.attach(readpot,0.1); // Deze ticker moet de waarde uitlezen van de PotMeter 10 keer per seconde
Fernon 6:cf20f04dbab4 36 //PC.attach(print,0.5);
Fernon 0:5a5f417fa1b2 37 while (true) {
Fernon 5:d47e6a96256b 38 PowerMotor.write(z);
Fernon 6:cf20f04dbab4 39 // Pulses = Encoder.getPulses();
Fernon 6:cf20f04dbab4 40 // Rotatie = (Pulses*twopi)/4192;
Fernon 6:cf20f04dbab4 41 // Rotatietwopi = fmod(Rotatie,twopi);
Fernon 0:5a5f417fa1b2 42 }
Fernon 2:f0e9ffc5df09 43 }
Fernon 3:af3f0ed8c99e 44
Fernon 5:d47e6a96256b 45