Florian Stevens / Mbed 2 deprecated PI_moter1and2_ticker

pot controller voor positie, kp handmatig instellen, werkt met motor 1 en 2

Dependencies:   MODSERIAL QEI mbed-dsp mbed

Fork of PI_controller_verbeteringen by ProjectGroep23

main.cpp@3:40a25c2c24ba, 2018-09-12 (annotated)

Committer:
SimonRez
Date:
Wed Sep 12 11:52:10 2018 +0000
Revision:
3:40a25c2c24ba
Parent:
2:52b3c0b95388
Child:
4:651d06e860e7
Helemaal werkend. NULL waarde geintegreerd en foutmelding

Who changed what in which revision?

UserRevisionLine numberNew contents of line
vsluiter 0:c8f15874531b 1 #include "mbed.h"
vsluiter 0:c8f15874531b 2 #include "MODSERIAL.h"
vsluiter 0:c8f15874531b 3
SimonRez 2:52b3c0b95388 4 Ticker Blinker;
SimonRez 2:52b3c0b95388 5
SimonRez 2:52b3c0b95388 6 DigitalOut ledr(LED_RED);
SimonRez 2:52b3c0b95388 7 DigitalOut ledg(LED_GREEN);
SimonRez 2:52b3c0b95388 8 DigitalOut ledb(LED_BLUE);
SimonRez 3:40a25c2c24ba 9 DigitalIn sw2(PTC6);
SimonRez 2:52b3c0b95388 10
vsluiter 0:c8f15874531b 11 MODSERIAL pc(USBTX, USBRX);
vsluiter 0:c8f15874531b 12
SimonRez 2:52b3c0b95388 13 volatile char c;
SimonRez 2:52b3c0b95388 14 volatile char color;
SimonRez 2:52b3c0b95388 15
SimonRez 2:52b3c0b95388 16 void ButtonpressCheck()
SimonRez 2:52b3c0b95388 17 {
SimonRez 2:52b3c0b95388 18 if (c == 'r')
SimonRez 2:52b3c0b95388 19 {
SimonRez 2:52b3c0b95388 20 color = 'r';
SimonRez 2:52b3c0b95388 21 }
SimonRez 2:52b3c0b95388 22 else if (c == 'g')
SimonRez 2:52b3c0b95388 23 {
SimonRez 2:52b3c0b95388 24 color = 'g';
SimonRez 2:52b3c0b95388 25 }
SimonRez 2:52b3c0b95388 26 else if (c == 'b')
SimonRez 2:52b3c0b95388 27 {
SimonRez 2:52b3c0b95388 28 color = 'b';
SimonRez 2:52b3c0b95388 29 }
SimonRez 3:40a25c2c24ba 30 else if (c == NULL)
SimonRez 3:40a25c2c24ba 31 {
SimonRez 3:40a25c2c24ba 32 ledr = 1;
SimonRez 3:40a25c2c24ba 33 ledg = 1;
SimonRez 3:40a25c2c24ba 34 ledb = 1;
SimonRez 3:40a25c2c24ba 35 }
SimonRez 2:52b3c0b95388 36 else
SimonRez 2:52b3c0b95388 37 {
SimonRez 2:52b3c0b95388 38 pc.printf("Character %c is not valid \r\n",c);
SimonRez 2:52b3c0b95388 39 c = color;
SimonRez 3:40a25c2c24ba 40
SimonRez 3:40a25c2c24ba 41 ledr = 0;
SimonRez 3:40a25c2c24ba 42 ledg = 0;
SimonRez 3:40a25c2c24ba 43 ledb = 0;
SimonRez 3:40a25c2c24ba 44 wait(0.1f);
SimonRez 3:40a25c2c24ba 45 ledr = 1;
SimonRez 3:40a25c2c24ba 46 ledg = 1;
SimonRez 3:40a25c2c24ba 47 ledb = 1;
SimonRez 3:40a25c2c24ba 48 wait(0.1f);
SimonRez 3:40a25c2c24ba 49 ledr = 0;
SimonRez 3:40a25c2c24ba 50 ledg = 0;
SimonRez 3:40a25c2c24ba 51 ledb = 0;
SimonRez 3:40a25c2c24ba 52 wait(0.1f);
SimonRez 3:40a25c2c24ba 53 ledr = 1;
SimonRez 3:40a25c2c24ba 54 ledg = 1;
SimonRez 3:40a25c2c24ba 55 ledb = 1;
SimonRez 3:40a25c2c24ba 56 wait(0.1f);
SimonRez 3:40a25c2c24ba 57 ledr = 0;
SimonRez 3:40a25c2c24ba 58 ledg = 0;
SimonRez 3:40a25c2c24ba 59 ledb = 0;
SimonRez 3:40a25c2c24ba 60 wait(0.1f);
SimonRez 3:40a25c2c24ba 61 ledr = 1;
SimonRez 3:40a25c2c24ba 62 ledg = 1;
SimonRez 3:40a25c2c24ba 63 ledb = 1;
SimonRez 3:40a25c2c24ba 64 wait(0.1f);
SimonRez 2:52b3c0b95388 65 }
SimonRez 2:52b3c0b95388 66
SimonRez 2:52b3c0b95388 67 if (color == 'r')
SimonRez 2:52b3c0b95388 68 {
SimonRez 2:52b3c0b95388 69 ledr = !ledr;
SimonRez 2:52b3c0b95388 70 ledg = 1;
SimonRez 2:52b3c0b95388 71 ledb = 1;
SimonRez 2:52b3c0b95388 72 }
SimonRez 2:52b3c0b95388 73 else if (color == 'g')
SimonRez 2:52b3c0b95388 74 {
SimonRez 2:52b3c0b95388 75 ledr = 1;
SimonRez 2:52b3c0b95388 76 ledg = !ledg;
SimonRez 2:52b3c0b95388 77 ledb = 1;
SimonRez 2:52b3c0b95388 78 }
SimonRez 2:52b3c0b95388 79 else if (color == 'b')
SimonRez 2:52b3c0b95388 80 {
SimonRez 2:52b3c0b95388 81 ledr = 1;
SimonRez 2:52b3c0b95388 82 ledg = 1;
SimonRez 2:52b3c0b95388 83 ledb = !ledb;
SimonRez 2:52b3c0b95388 84 }
SimonRez 2:52b3c0b95388 85 wait(0.25f);
SimonRez 2:52b3c0b95388 86 ledr = 1;
SimonRez 2:52b3c0b95388 87 ledg = 1;
SimonRez 2:52b3c0b95388 88 ledb = 1;
SimonRez 2:52b3c0b95388 89
SimonRez 2:52b3c0b95388 90 }
SimonRez 2:52b3c0b95388 91
vsluiter 0:c8f15874531b 92 int main()
vsluiter 0:c8f15874531b 93 {
SimonRez 2:52b3c0b95388 94 ledr = 1;
SimonRez 2:52b3c0b95388 95 ledg = 1;
SimonRez 2:52b3c0b95388 96 ledb = 1;
SimonRez 2:52b3c0b95388 97
SimonRez 2:52b3c0b95388 98 pc.printf("\r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n ~~~Pu$$Y~~~ \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n");
SimonRez 2:52b3c0b95388 99
vsluiter 0:c8f15874531b 100 pc.baud(115200);
SimonRez 2:52b3c0b95388 101 Blinker.attach(ButtonpressCheck, 0.5);
SimonRez 2:52b3c0b95388 102
vsluiter 0:c8f15874531b 103
SimonRez 2:52b3c0b95388 104
SimonRez 2:52b3c0b95388 105 while (true)
SimonRez 2:52b3c0b95388 106 {
SimonRez 2:52b3c0b95388 107 c = pc.getc();
SimonRez 3:40a25c2c24ba 108
SimonRez 3:40a25c2c24ba 109
vsluiter 0:c8f15874531b 110 }
SimonRez 2:52b3c0b95388 111
vsluiter 0:c8f15874531b 112 }
SimonRez 2:52b3c0b95388 113
SimonRez 2:52b3c0b95388 114