groep17besturenmotornaarpotmeter
Dependencies: MODSERIAL QEI mbed
main.cpp
00001 #include "mbed.h" 00002 #include <iostream> 00003 #include <string> 00004 #include <stdio.h> 00005 #include <math.h> 00006 #include "MODSERIAL.h" 00007 #include "QEI.h" 00008 Serial pc(USBTX,USBRX); 00009 00010 DigitalIn button1(D2);//rigth button on biorobotics shield 00011 DigitalIn button2(D3);//left button on biorobotics shield 00012 00013 DigitalOut motor2_direction(D7);// draairichting motor 1 (1 is CW encoder als je daar op kijkt en CW shaft als je daar op kijkt) 00014 PwmOut motor2_speed_control(D6);//aanstuursnelheid motor 1 00015 PwmOut motor1_speed_control(D5);//aanstuursnelheid motor 1 00016 DigitalOut motor1_direction(D4);//draairichting motor 1 00017 00018 AnalogIn pot1(A2); 00019 AnalogIn pot2(A3); 00020 00021 00022 int main() { 00023 motor2_speed_control.period_us(55);//Sets frequency to 60 microsecondes 16.4 Khz 00024 while(true) { 00025 00026 float u1 = -1 + (2*pot1); //Changes the pot value from [ 0 1 ] to [-1 1] 00027 if(u1 < 0) 00028 { 00029 motor1_direction = 0; //Sets motor direction 00030 } 00031 else{ 00032 motor1_direction = 1;//Sets motor in oppposite direction 00033 } 00034 00035 motor1_speed_control = fabs(u1); 00036 00037 float u2 = -1 + (2*pot2); //Changes the pot value from [ 0 1 ] to [-1 1] 00038 if(u2 < 0) 00039 { 00040 motor2_direction = 0; //Sets motor direction 00041 } 00042 else{ 00043 motor2_direction = 1;//Sets motor in oppposite direction 00044 } 00045 00046 motor2_speed_control = fabs(u2); 00047 if (button2 == false){ 00048 motor1_speed_control = 0; 00049 motor2_speed_control = 0; 00050 return 0; 00051 } 00052 } 00053 } 00054
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