Diff: main.cpp

Revision:

3:4f281c336a8b

Parent:

2:75b2f713161c

Child:

4:fb67a4284aaa

Child:

5:2ae500da8fe1

--- a/main.cpp	Mon Oct 07 12:25:49 2019 +0000
+++ b/main.cpp	Mon Oct 07 13:02:09 2019 +0000
@@ -5,11 +5,14 @@
 DigitalIn button1(D12);
 AnalogIn pot2(A0);
 Ticker john;
-DigitalOut motor1Direction(D6);
-FastPWM motor1Velocity(D7);
+DigitalOut motor1Direction(D7);
+FastPWM motor1Velocity(D6);
 Serial pc(USBTX, USBRX);
 volatile double frequency = 17000.0;
 volatile double period_signal = 1.0/frequency;
+float vel = 0.0f;
+float referencevelocity;
+float motorvalue2;
 
 //get the measured velocity
 double getmeasuredvelocity()
@@ -22,52 +25,19 @@
 //get the reference of the velocity: positive or negative
 double getreferencevelocity()
 {
-    //const float maxvelocity = 8.4;
-    /*volatile float referencevelocity;
-    if (button1.read() == 0)
-    {
-        referencevelocity = pot2.read()*maxvelocity;
-    }
-    else
-    {
-        referencevelocity = -1*pot2.read()*maxvelocity;
-    }*/
-    float referencevelocity = -1.0 + 2.0*pot2.read();
-    //pc.printf("The reference velocity is %f\r\n", referencevelocity);
+    referencevelocity = -1.0 + 2.0*pot2.read();
     return referencevelocity;
 }   
 
-float vel = 0.0f;
 //send value to motor
 void sendtomotor(float motorvalue)
 {   
-    /*
-    pc.printf("The motor value is %f\r\n", motorvalue);
-    if (motorvalue >= 0)
-    {
-        motor1Direction = 1;
-        pc.printf("hello");
-    }
-    else 
-    {
-        motor1Direction = 0;
-        pc.printf("wow");
-    }
-    if (fabs(motorvalue)>1)
-    {
-        motor1Velocity = 1;
-    }
-    else
-    {
-        motor1Velocity = fabs(motorvalue);
-    }*/
+    motorvalue2 = motorvalue;
     vel = fabs(motorvalue);
-     vel = vel > 1.0f ? 1.0f : vel;   
+    vel = vel > 1.0f ? 1.0f : vel;   
     motor1Velocity = vel;
 
     motor1Direction = (motorvalue > 0.0f);
-    //pc.printf("The motor value is %f\r\n", motorvalue);
-    //pc.printf("The motor direction is %s\r\n", motor1Direction ? "links" : "rechts");
 }
 
 // function to call reference velocity, measured velocity and controls motor with feedback
@@ -75,7 +45,6 @@
 {
     float referencevelocity = getreferencevelocity();
     float measuredvelocity = getmeasuredvelocity();
-//    float motorvalue = feedbackcontrol(referencevelocity - measuredvelocity);
     sendtomotor(referencevelocity);
 }
 int main()
@@ -87,6 +56,8 @@
     while(true)
     {
         wait(0.5);
-        pc.printf("%f\r\n", vel);
+        pc.printf("velocity = %f\r\n", vel);
+        pc.printf("motor1Direction = %i\r\n", (int)motor1Direction);
+        pc.printf("motorvalue2 = %f\r\n", motorvalue2);
     }
 }
\ No newline at end of file