main.cpp

00001 #include "mbed.h"
00002 #include "MODSERIAL.h"
00003 
00004 DigitalOut M1_rotate(D2); // voltage only base rotation
00005 PwmOut M1_Speed(D3);      // voltage only base rotation
00006 
00007 DigitalOut M2_rotate(D4);   // encoder side pot 2 translation
00008 PwmOut M2_Speed(D5);        // encoder side pot 2 translation
00009 
00010 DigitalOut M3_rotate(D7);   // encoder side pot 1 spatel rotation
00011 PwmOut M3_Speed(D6);        // encoder side pot 1 spatel rotation
00012 
00013 //DigitalOut M2_rotate(D6);
00014 //PwmOut M2_Speed(D7);
00015 
00016 AnalogIn pot1(A4); // pot 1 motor 1
00017 AnalogIn pot2(A3); // pot 2 motor 3
00018 
00019 MODSERIAL pc(USBTX, USBRX);
00020 
00021 DigitalIn sw2(SW2); // motor 2 off/on
00022 
00023 int main()
00024 {
00025     pc.baud(115200);
00026     pc.printf("hoi\n");
00027     M1_rotate = 1;
00028     M2_rotate = 1;
00029     M3_rotate = 1;
00030 
00031     while (true) {
00032         
00033         if (sw2 == 1) {
00034             M2_Speed = 1;
00035         }
00036         float M2 = M2_rotate.read();
00037         float potje1 = pot1.read();
00038         float potje2 = pot2.read();
00039         M1_Speed.write(potje1);
00040         M3_Speed.write(potje2);
00041         wait(0.1);
00042         pc.printf("motor 1 %f, motor 2 %f, motor 3 %f \n \r ", potje1, M2, potje2);
00043     }
00044 }