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Dependencies: Encoder HIDScope MODSERIAL mbed-dsp mbed
Fork of
BMT-M9_motorcontrol_groep3
by 
Aukie Hooglugt
Revision 14:98925c1ed440, committed 2014-10-17
- Comitter:
- Hooglugt
- Date:
- Fri Oct 17 09:39:49 2014 +0000
- Parent:
- 13:7ec4762ec4ce
- Child:
- 15:979011e26ca3
- Commit message:
- aan/uit elke 5 sec toegevoegd
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Fri Oct 17 08:47:27 2014 +0000
+++ b/main.cpp Fri Oct 17 09:39:49 2014 +0000
@@ -7,6 +7,7 @@
void clamp(float * in, float min, float max);
volatile bool looptimerflag;
HIDScope scope(2);
+float new_pwm = 0;
void setlooptimerflag(void)
{
@@ -18,6 +19,16 @@
*in > min ? *in < max? : *in = max: *in = min;
}
+void looper()
+{
+ if (new_pwm==0) {
+ new_pwm = 1;
+ } else {
+ new_pwm = 0;
+ }
+}
+
+
int main()
{
Encoder motor1(PTD2,PTD0);
@@ -26,27 +37,24 @@
DigitalOut motordir(PTC9);
Ticker looptimer;
looptimer.attach(setlooptimerflag,TSAMP);
-
- wait(10);
+ Ticker flip_switch;
+ flip_switch.attach(looper, 5);
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));
}
}
\ No newline at end of file