Diff: main.cpp

Revision:

7:9f4e35d977af

Parent:

6:84a01494d836

--- a/main.cpp	Mon Oct 10 15:03:42 2016 +0000
+++ b/main.cpp	Mon Oct 10 15:26:27 2016 +0000
@@ -18,9 +18,9 @@
 HIDScope    scope(2);
 
 float referenceVelocity = 0;
-int counts;
-double DerivativeCounts;
-int countsPrev = 0;
+volatile int counts;
+volatile float DerivativeCounts;
+volatile int countsPrev = 0;
 
 volatile bool MeasureTicker_go=false, TimeTracker_go=false, sampleT_go=false;
 
@@ -28,19 +28,6 @@
 void TimeTracker_act(){TimeTracker_go=true;};
 void sampleT_act(){sampleT_go=true;};
 
-// encoder in HIDScope setten
-void sample()
-{
-    QEI Encoder(D12, D13, NC, 32);
-    counts = Encoder.getPulses();  // gives position
-    scope.set(0, counts);
-    DerivativeCounts = (counts-countsPrev)/0.001;
-    scope.set(1, DerivativeCounts);
-    countsPrev = counts; 
-    scope.send();
-}
-
-
 float GetReferenceVelocity()
 {
     // Returns reference velocity in rad/s. 
@@ -65,7 +52,7 @@
 {
     // very simple linear feed-forward control
     const float MotorGain=8.4; // unit: (rad/s) / PWM
-    float motorValue = referenceVelocity / MotorGain;
+    volatile float motorValue = referenceVelocity / MotorGain;
     return motorValue;
 }
 
@@ -81,23 +68,36 @@
         else motor1MagnitudePin = fabs(motorValue);
 }
 
+void EncoderHIDScope() // encoder in HIDScope zetten
+{
+    QEI Encoder(D12, D13, NC, 32);
+    counts = Encoder.getPulses();  // gives position
+    scope.set(0, counts);
+    DerivativeCounts = (counts-countsPrev)/0.001;
+    scope.set(1, DerivativeCounts);
+    countsPrev = counts; 
+    scope.send();
+}
+
 void MeasureAndControl(void)
 {
     // This function measures the potmeter position, extracts a
     // reference velocity from it, and controls the motor with 
     // a simple FeedForward controller. Call this from a Ticker.
-    float referenceVelocity = GetReferenceVelocity();
-    float motorValue = FeedForwardControl(referenceVelocity);
+    volatile float referenceVelocity = GetReferenceVelocity();
+    volatile float motorValue = FeedForwardControl(referenceVelocity);
     SetMotor1(motorValue);
+    EncoderHIDScope();
     //pc.printf("MotorValue: %f rad/s \r\n", motorValue);
 }
 
-//void TimeTrackerF(){
-     //wait(1);   
-     //float Potmeter = potMeterIn.read();
-     //pc.printf("Reference velocity: %f rad/s \r\n", referenceVelocity);
-     //pc.printf("Potmeter: %f rad/s \r\n", Potmeter);
-      
+void TimeTrackerF(){
+     wait(1);   
+     float Potmeter = potMeterIn.read();
+     pc.printf("Reference velocity: %f rad/s \r\n", referenceVelocity);
+     pc.printf("Potmeter: %f rad/s \r\n", Potmeter);
+     //pc.printf("MotorValue: %f rad/s \r\n", motorValue);  
+     pc.printf("Encoder counts: %i \r\n", countsPrev);
 }
 
 int main()
@@ -105,7 +105,7 @@
  //Initialize
  led1=0;
  led2=0;
- int counts;
+ counts;
  //float Potmeter = potMeterIn.read();
  MeasureTicker.attach(&MeasureTicker_act, 0.01f); 
  TimeTracker.attach(&TimeTracker_act, 0.3f);
@@ -121,18 +121,16 @@
         if (MeasureTicker_go){
             MeasureTicker_go=false;
             MeasureAndControl();
-            counts = Encoder.getPulses();  // gives position
+            //counts = Encoder.getPulses();  // gives position
             //pc.printf("Encoder counts: %i \r\n", counts); 
         }
-        /*if (TimeTracker_go){
+        if (TimeTracker_go){
             TimeTracker_go=false;
             TimeTrackerF();
-        }*/
+        }
         if (sampleT_go){
             sampleT_go=false;
-            sample();
+            EncoderHIDScope();
         }
     }
 }
-
-