Diff: main.cpp

Revision:

0:6ffe287c9e4c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Sep 22 11:52:38 2015 +0000
@@ -0,0 +1,91 @@
+#include "mbed.h"
+#include "HIDScope.h"
+#include "encoder.h"
+
+//hidscope met gewenst aantal kanalen
+HIDScope scope(2);
+
+//analoog in van potmeter 1
+AnalogIn pot1(A0);
+
+//signaal naar motor uit
+DigitalOut motor1_direction(D7);// draairichting motor 1 (1 is CW )
+PwmOut motor1_speed_control(D6);//aanstuursnelheid motor 1
+//PwmOut motor2_speed_control(D5);
+//DigitalOut motor2_direction(D4);
+
+//encoders
+Encoder motor1_encoder(D13,D12);
+//Encoder motor2_encoder(D11,D10);
+
+//tickers
+Ticker scopedataticker;
+Ticker adjust_positionticker;
+
+//frequenties
+const float motor_frequency_pwm = 1000; //1kHz PWM
+const float scopedatafrequency=50;// frequentie waarmee informatie naar de scope gestuurd wordt
+const float adjust_position_frequency=8; // frequentie waarmee de motorpositie aangepast wordt
+
+//constanten
+const float cpr=4200;
+
+
+//go flags
+bool scopedata_go=false;
+bool adjust_position_go=false;
+
+//activators
+void scopedata_activate()
+{
+    scopedata_go=true;
+}
+void adjust_position_activate()
+{
+    adjust_position_go=true;
+}
+
+//scopefunctie
+void scopedata()
+{
+    scope.set(0,pot1.read());
+    scope.set(1,motor1_encoder.getPosition());
+    scope.send();
+}
+
+//adjust position
+void adjust_position()
+{
+    float wantedposition=cpr*(pot1.read());
+    int actualposition=(motor1_encoder.getPosition());
+    if (wantedposition<=actualposition) {
+        motor1_direction=0;
+        motor1_speed_control=0.5;
+    } else if (wantedposition>=actualposition) {
+        motor1_direction=1;
+        motor1_speed_control=0.5;
+    } else {
+        motor1_direction=1;
+        motor1_speed_control=0;
+    }
+}
+
+int main ()
+{
+    motor1_speed_control.period(1/motor_frequency_pwm);
+
+    scopedataticker.attach(&scopedata_activate,1/scopedatafrequency);
+    adjust_positionticker.attach(&adjust_position_activate,1/adjust_position_frequency);
+
+    while(1) {
+        if (scopedata_go==true) {
+            scopedata();
+            scopedata_go=false;
+        }
+        if (adjust_position_go==true) {
+            adjust_position();
+            adjust_position_go=false;
+
+        }
+    }
+}