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@8:9b517db94f49, 2018-10-01 (annotated)

Committer:
rachieldb
Date:
Mon Oct 01 12:47:32 2018 +0000
Revision:
8:9b517db94f49
Parent:
7:e21056555296
Child:
9:466dff9ae128
draaien van beide richtingen toegevoegd;

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"
SimonRez 6:1ee8795b7578 3 #include "QEI.h"
vsluiter 0:c8f15874531b 4
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 4:651d06e860e7 9
SimonRez 5:f07bafaf11d7 10 PwmOut pwmpin(PTA2);
SimonRez 5:f07bafaf11d7 11 DigitalOut direct(PTB23);
SimonRez 6:1ee8795b7578 12 AnalogIn pot1(A0);
SimonRez 6:1ee8795b7578 13
SimonRez 6:1ee8795b7578 14 QEI encoder(D12,D13,NC,32);
SimonRez 5:f07bafaf11d7 15
SimonRez 4:651d06e860e7 16 InterruptIn sw2(SW2);
SimonRez 4:651d06e860e7 17 InterruptIn sw3(SW3);
SimonRez 2:52b3c0b95388 18
vsluiter 0:c8f15874531b 19 MODSERIAL pc(USBTX, USBRX);
vsluiter 0:c8f15874531b 20
SimonRez 4:651d06e860e7 21
vsluiter 0:c8f15874531b 22 int main()
vsluiter 0:c8f15874531b 23 {
SimonRez 2:52b3c0b95388 24 ledr = 1;
SimonRez 2:52b3c0b95388 25 ledg = 1;
SimonRez 2:52b3c0b95388 26 ledb = 1;
SimonRez 2:52b3c0b95388 27
SimonRez 4:651d06e860e7 28 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 ~~~A$$De$troyer69~~~ \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 29
SimonRez 5:f07bafaf11d7 30 pwmpin.period_us(60);
SimonRez 5:f07bafaf11d7 31 pwmpin = 0;
SimonRez 5:f07bafaf11d7 32
SimonRez 2:52b3c0b95388 33 while (true)
SimonRez 2:52b3c0b95388 34 {
rachieldb 8:9b517db94f49 35 float pot1_float = pot1.read();
rachieldb 8:9b517db94f49 36 float pot1_motor = (pot1_float * 2.0f) - 1.0f;
rachieldb 8:9b517db94f49 37 int mot1_direction = pot1_motor >= 0;
rachieldb 8:9b517db94f49 38 pwmpin.write(fabs(pot1_motor));
rachieldb 8:9b517db94f49 39 direct = mot1_direction;
rachieldb 8:9b517db94f49 40 pc.printf("potmeter: %f, encoder: %i \r\n", pot1_motor, encoder.getPulses());
SimonRez 5:f07bafaf11d7 41 wait(0.2f);
vsluiter 0:c8f15874531b 42 }
vsluiter 0:c8f15874531b 43 }
SimonRez 2:52b3c0b95388 44
SimonRez 2:52b3c0b95388 45