Revision 11:4f65e70290ac, committed 2014-10-15

Comitter:

Hooglugt

Date:

Wed Oct 15 13:57:45 2014 +0000

Parent:

10:6f8af13cc3f4

Child:

12:02abb60385c8

Child:

13:7ec4762ec4ce

Commit message:

step function;

Changed in this revision

--- a/main.cpp	Wed Oct 01 09:58:52 2014 +0000
+++ b/main.cpp	Wed Oct 15 13:57:45 2014 +0000
@@ -15,7 +15,7 @@
 AnalogIn potmeter(PTC2);
 volatile bool looptimerflag;
 float potsamples[POT_AVG];
-HIDScope scope(6);
+HIDScope scope(2);
 
 
 void setlooptimerflag(void)
@@ -29,6 +29,8 @@
 {
     //start Encoder
     Encoder motor1(PTD0,PTC9);
+    // @param int_a Pin to be used as InterruptIn! Be careful, as not all pins on all platforms may be used as InterruptIn.
+    // @param int_b second encoder pin, used as DigitalIn. Can be any DigitalIn pin, not necessarily on InterruptIn location
     /*PwmOut to motor driver*/
     PwmOut pwm_motor(PTA5);
     //10kHz PWM frequency
@@ -38,19 +40,19 @@
     looptimer.attach(setlooptimerflag,TSAMP);
     while(1) {
         float setpoint;
-        float new_pwm;
-        /*wait until timer has elapsed*/
+        float new_pwm;        
         while(!looptimerflag);
         looptimerflag = false; //clear flag
-        /*potmeter value: 0-1*/
-        setpoint = (potmeter.read()-.5)*500;        
-        /*new_pwm = (setpoint - motor1.getPosition())*.001; -> P action*/
-        new_pwm = pid(setpoint, motor1.getPosition());
+        //potmeter value: 0-1
+        //setpoint = (potmeter.read()-.5)*500;        
+        //new_pwm = (setpoint - motor1.getPosition())*.001; -> P action
+        new_pwm = 1; // DIT IS PUUR VOOR DE STEPFUNCTION
+        //new_pwm = pid(setpoint, motor1.getPosition());
         clamp(&new_pwm, -1,1);
-        scope.set(0, setpoint);
-        scope.set(4, new_pwm);
-        scope.set(5, motor1.getPosition());
-        // ch 1, 2 and 3 set in pid controller */
+        //scope.set(0, setpoint);
+        scope.set(1, new_pwm);
+        scope.set(2, motor1.getPosition());
+        // ch 1, 2 and 3 set in pid controller 
         scope.send();
         if(new_pwm > 0)
             motordir = 0;
@@ -69,7 +71,7 @@
     *in > min ? *in < max? : *in = max: *in = min;
 }
 
-
+/*
 float pid(float setpoint, float measurement)
 {
     float error;
@@ -86,6 +88,7 @@
     scope.set(1,out_p);
     scope.set(2,out_i);
     scope.set(3,out_d);
-    return out_p + out_i + out_d;
+    return out_p + out_i + out_d;    
 }
+*/