Diff: main.cpp

Revision:

3:941386c5102e

Parent:

2:78a4dccff486

--- a/main.cpp	Tue Nov 01 16:24:38 2016 +0000
+++ b/main.cpp	Wed Nov 02 09:12:53 2016 +0000
@@ -1,6 +1,7 @@
 #include "mbed.h"
 #include "QEI.h"
-#include "HIDScope.h"
+//#include "HIDScope.h"
+#include "MODSERIAL.h"
 
 // Definiëren van alle poorten
 
@@ -12,7 +13,8 @@
 PwmOut pwm_motor1 (D6);
 DigitalOut motor2 (D4);
 PwmOut pwm_motor2 (D5);
-HIDScope    scope( 4 );
+MODSERIAL pc(USBTX, USBRX);
+//HIDScope    scope( 4 );
 Ticker      sample_timer, snelheid_ticker;
 
 double t;
@@ -21,22 +23,17 @@
 double PWMAout;
 //float v_1;
 int counts1_old;
-int counts1;
-int counts2;
+double counts1;
+double counts2;
 const int cw=0;
 const int ccw=1;
 
-void sample()
-{
+
+
     //v_1 = (float) ((counts1 - counts1_old)/0.02);
     //counts1_old=counts1;
-    scope.set(0, counts1);
-    scope.set(1, counts2);
-    scope.set(2, Aout);
-    scope.set(3, PWMAout);
-    //scope.set(3, PWMAout);
-    scope.send();
-}
+
+
 
 
 /*void snelheid()
@@ -52,18 +49,20 @@
 
 
 int main() {
+    
+    pc.baud(115200);
     const double frequency_pwm = 0.5;
     pwm_motor1.period(1.0/frequency_pwm);
     pwm_motor2.period(1.0/frequency_pwm);
     QEI Encoder1(D12, D13, NC, 32); //maakt de encoder aan, NC niet aanwezig, 32 bits
     QEI Encoder2(D10, D11, NC, 32); //maakt de encoder aan, NC niet aanwezig, 32 bits
-    sample_timer.attach(&sample, 0.001);
+
     //snelheid_ticker.attach(&snelheid, 0.01f);
     
  
     while(true){
-      for (t=0; t<2000; t=t+0.1) {
-                Aout= (double) 1*sin(0.001*pi*t);
+      for (t=0; t<2000; t=t+0.002) {
+                Aout= (double) 1*sin(2*pi*2*t);
                 PWMAout=fabs((Aout+1)/2);
             if (Aout >=0) //clockwise rotation
                 {motor1.write(cw);        //?
@@ -91,7 +90,15 @@
             pwm_motor2.write(0.5);*/
             counts1 = Encoder1.getPulses();
             counts2 = Encoder2.getPulses();
+            pc.printf("%f \r\n",counts1);
+                 
             }
+            //scope.set(0, counts1);
+    //scope.set(1, counts2);
+    //scope.set(2, Aout);
+    //scope.set(3, PWMAout);
+    
+    //scope.send();
     }
  }