Aukie Hooglugt / Mbed 2 deprecated BMT-M9_motorcontrol

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Dependencies:   Encoder HIDScope MODSERIAL mbed-dsp mbed

Fork of BMT-M9_motorcontrol_groep3 by Aukie Hooglugt

main.cpp

Committer:
Hooglugt
Date:
2014-10-17
Revision:
13:7ec4762ec4ce
Parent:
11:4f65e70290ac
Child:
14:98925c1ed440

File content as of revision 13:7ec4762ec4ce:

#include "mbed.h"
#include "encoder.h"
#include "HIDScope.h"

#define TSAMP 0.01

void clamp(float * in, float min, float max);
volatile bool looptimerflag;
HIDScope scope(2);

void setlooptimerflag(void)
{
    looptimerflag = true;
}

void clamp(float * in, float min, float max)
{
*in > min ? *in < max? : *in = max: *in = min;
}

int main()
{
    Encoder motor1(PTD2,PTD0);
    PwmOut pwm_motor(PTC8);
    pwm_motor.period_us(100); //10kHz PWM frequency
    DigitalOut motordir(PTC9);
    Ticker looptimer;
    looptimer.attach(setlooptimerflag,TSAMP);
    
    wait(10);

    while(1) {
        float new_pwm;
        
        while(!looptimerflag);
        looptimerflag = false; //clear flag

        new_pwm = 1; 
        clamp(&new_pwm, -1,1);

        scope.set(0, new_pwm);
        scope.set(1, motor1.getPosition());
        scope.send();
        
        if(new_pwm > 0)
            motordir = 0;
        else
            motordir = 1;
            
        pwm_motor.write(abs(new_pwm));
    }
}