Jasper Gerth / Mbed 2 deprecated P-control

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Dependencies:   HIDScope MODSERIAL QEI mbed

main.cpp@1:f367ab17bc18, 2015-09-23 (annotated)

Committer:
Gerth
Date:
Wed Sep 23 13:44:00 2015 +0000
Revision:
1:f367ab17bc18
Parent:
0:3df25d5b2946
Child:
2:04ad19deeb2c
prints value of pot and encoder to hidscope; now make p contoller

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Gerth 0:3df25d5b2946 1 #include "mbed.h"
Gerth 1:f367ab17bc18 2 #include "MODSERIAL.h"
Gerth 1:f367ab17bc18 3 #include "QEI.h"
Gerth 1:f367ab17bc18 4 #include "HIDScope.h"
Gerth 1:f367ab17bc18 5
Gerth 1:f367ab17bc18 6 HIDScope scope(2);
Gerth 1:f367ab17bc18 7 MODSERIAL pc(USBTX, USBRX);
Gerth 1:f367ab17bc18 8 QEI encoder1 (D13,D12,NC,32);
Gerth 1:f367ab17bc18 9
Gerth 1:f367ab17bc18 10 //ingangen
Gerth 1:f367ab17bc18 11 AnalogIn pot1(A0);
Gerth 1:f367ab17bc18 12
Gerth 1:f367ab17bc18 13 //frequencies
Gerth 1:f367ab17bc18 14 const float hidscope_frequency=100;
Gerth 1:f367ab17bc18 15 const float p_control_frequency=100;
Gerth 1:f367ab17bc18 16
Gerth 1:f367ab17bc18 17 //tickers
Gerth 1:f367ab17bc18 18 Ticker hidscope_ticker;
Gerth 1:f367ab17bc18 19 Ticker p_control_ticker;
Gerth 0:3df25d5b2946 20
Gerth 1:f367ab17bc18 21 //constants
Gerth 1:f367ab17bc18 22 const int cpr=32;
Gerth 1:f367ab17bc18 23 const float PI=3.1415;
Gerth 1:f367ab17bc18 24 const float counttorad=((2*PI)/cpr);
Gerth 1:f367ab17bc18 25
Gerth 1:f367ab17bc18 26 //go flags
Gerth 1:f367ab17bc18 27 volatile bool scopedata_go=false, p_control_go=false;
Gerth 1:f367ab17bc18 28
Gerth 1:f367ab17bc18 29 //acvitator functions
Gerth 1:f367ab17bc18 30
Gerth 1:f367ab17bc18 31 void scopedata_activate()
Gerth 1:f367ab17bc18 32 {
Gerth 1:f367ab17bc18 33 scopedata_go=true;
Gerth 1:f367ab17bc18 34 }
Gerth 1:f367ab17bc18 35 void p_control_activate(){
Gerth 1:f367ab17bc18 36 p_control_go=true;
Gerth 1:f367ab17bc18 37 }
Gerth 1:f367ab17bc18 38 ///////////////////////////////////////////////////////FUNCTIONS//////////////////////////////////////////////////////////////////////////
Gerth 1:f367ab17bc18 39
Gerth 1:f367ab17bc18 40 //scopedata
Gerth 1:f367ab17bc18 41 void scopedata()
Gerth 1:f367ab17bc18 42 {
Gerth 1:f367ab17bc18 43 scope.set(0,pot1.read());
Gerth 1:f367ab17bc18 44 scope.set(1,counttorad*encoder1.getPulses());
Gerth 1:f367ab17bc18 45 scope.send();
Gerth 1:f367ab17bc18 46 }
Gerth 1:f367ab17bc18 47 void p_control(){}
Gerth 0:3df25d5b2946 48
Gerth 0:3df25d5b2946 49 int main()
Gerth 0:3df25d5b2946 50 {
Gerth 1:f367ab17bc18 51 //set initial shizzle
Gerth 1:f367ab17bc18 52
Gerth 1:f367ab17bc18 53
Gerth 1:f367ab17bc18 54 //tickers
Gerth 1:f367ab17bc18 55 hidscope_ticker.attach(&scopedata_activate,1.0/hidscope_frequency);
Gerth 1:f367ab17bc18 56 p_control_ticker.attach(&p_control_activate,1.0/p_control_frequency);
Gerth 1:f367ab17bc18 57
Gerth 1:f367ab17bc18 58 while(1) {
Gerth 1:f367ab17bc18 59 if (p_control_go==true) {
Gerth 1:f367ab17bc18 60 p_control();
Gerth 1:f367ab17bc18 61 p_control_go=false;
Gerth 1:f367ab17bc18 62 }
Gerth 1:f367ab17bc18 63 if (scopedata_go==true) {
Gerth 1:f367ab17bc18 64 scopedata();
Gerth 1:f367ab17bc18 65 scopedata_go=false;
Gerth 1:f367ab17bc18 66 }
Gerth 0:3df25d5b2946 67 }
Gerth 1:f367ab17bc18 68 }