Floor Couwenberg
/
Motor_constantesbepalen
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Dependencies: HIDScope MODSERIAL QEI mbed
Fork of
frdm_motorConstantesBepalen_bewerkt
by 
Marieke M
Revision 3:941386c5102e, committed 2016-11-02
- Comitter:
- FloorC
- Date:
- Wed Nov 02 09:12:53 2016 +0000
- Parent:
- 2:78a4dccff486
- Commit message:
- motor constantes bepalen, sinus hogere frequentie, werkt??
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MODSERIAL.lib Wed Nov 02 09:12:53 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/Sissors/code/MODSERIAL/#8ef4f91813fd
--- 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();
}
}
--- a/mbed.bld Tue Nov 01 16:24:38 2016 +0000 +++ b/mbed.bld Wed Nov 02 09:12:53 2016 +0000 @@ -1,1 +1,1 @@ -http://mbed.org/users/mbed_official/code/mbed/builds/aae6fcc7d9bb \ No newline at end of file +http://mbed.org/users/mbed_official/code/mbed/builds/f141b2784e32 \ No newline at end of file