Diff: main.cpp

Revision:

1:833c73834749

Parent:

0:2b420376e01d

--- a/main.cpp	Mon Oct 10 14:59:57 2016 +0000
+++ b/main.cpp	Wed Oct 12 14:35:38 2016 +0000
@@ -1,26 +1,44 @@
 #include "mbed.h"
 #include "MODSERIAL.h"
 
-DigitalOut M1_rotate(D2);
-PwmOut M1_Speed(D3);
+DigitalOut M1_rotate(D2); // voltage only base rotation
+PwmOut M1_Speed(D3);      // voltage only base rotation
+
+DigitalOut M2_rotate(D4);   // encoder side pot 2 translation
+PwmOut M2_Speed(D5);        // encoder side pot 2 translation
+
+DigitalOut M3_rotate(D7);   // encoder side pot 1 spatel rotation
+PwmOut M3_Speed(D6);        // encoder side pot 1 spatel rotation
 
 //DigitalOut M2_rotate(D6);
 //PwmOut M2_Speed(D7);
 
-AnalogIn pot(A4);
+AnalogIn pot1(A4); // pot 1 motor 1
+AnalogIn pot2(A3); // pot 2 motor 3
+
 MODSERIAL pc(USBTX, USBRX);
 
+DigitalIn sw2(SW2); // motor 2 off/on
+
 int main()
 {
     pc.baud(115200);
     pc.printf("hoi\n");
     M1_rotate = 1;
-    
+    M2_rotate = 1;
+    M3_rotate = 1;
+
     while (true) {
         
-        float potje = pot.read();
-        M1_Speed.write(potje);
+        if (sw2 == 1) {
+            M2_Speed = 1;
+        }
+        float M2 = M2_rotate.read();
+        float potje1 = pot1.read();
+        float potje2 = pot2.read();
+        M1_Speed.write(potje1);
+        M3_Speed.write(potje2);
         wait(0.1);
-        pc.printf("%f \n \r ", potje);
+        pc.printf("motor 1 %f, motor 2 %f, motor 3 %f \n \r ", potje1, M2, potje2);
     }
-}  
+}