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

Revision:
4:651d06e860e7
Parent:
3:40a25c2c24ba
Child:
5:f07bafaf11d7
--- a/main.cpp	Wed Sep 12 11:52:10 2018 +0000
+++ b/main.cpp	Wed Sep 12 12:18:25 2018 +0000
@@ -6,14 +6,16 @@
 DigitalOut ledr(LED_RED);
 DigitalOut ledg(LED_GREEN);
 DigitalOut ledb(LED_BLUE);
-DigitalIn  sw2(PTC6);
+
+InterruptIn  sw2(SW2);
+InterruptIn  sw3(SW3);
 
 MODSERIAL pc(USBTX, USBRX);
 
 volatile char c;
 volatile char  color;
 
-void ButtonpressCheck()
+void Buttonpress()
 {    
     if (c == 'r')
     {
@@ -82,6 +84,7 @@
         ledg = 1;
         ledb = !ledb;
     }
+    
     wait(0.25f);
     ledr = 1;
     ledg = 1;
@@ -89,24 +92,54 @@
        
 }
 
+void CurrentColor()
+{
+    if (color == 'r')
+    {
+        pc.printf("The current blinking color is: red. \r\n");
+    }
+    else if (color == 'g')
+    {
+        pc.printf("The current blinking color is: green. \r\n");
+    }
+    else if (color == 'b')
+    {
+        pc.printf("The current blinking color is: blue. \r\n");
+    }
+    else
+    {
+        pc.printf("The LED is currently not blinking.\r\n");
+    }
+}
+
+void LEDOFF()
+{
+    color = NULL;
+    c = NULL;
+    
+    ledr = 1;
+    ledg = 1;
+    ledb = 1;
+}
+
 int main()
 {
     ledr = 1;
     ledg = 1;
     ledb = 1;
     
-    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$$Y~~~ \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n");
+    pc.printf("\r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n ~~~A$$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");
     
     pc.baud(115200);
-    Blinker.attach(ButtonpressCheck, 0.5);
-    
+    Blinker.attach(Buttonpress, 0.5);
+    sw2.fall(CurrentColor);
+    sw3.rise(LEDOFF);
     
     
     while (true)
     {
         c = pc.getc();
         
-        
     }
     
 }