Revision 13:7ec4762ec4ce, committed 2014-10-17

Comitter:

Hooglugt

Date:

Fri Oct 17 08:47:27 2014 +0000

Parent:

11:4f65e70290ac

Child:

14:98925c1ed440

Commit message:

onnodige stukken code verwijdert voor testen motor (step function)

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MODSERIAL.lib	Fri Oct 17 08:47:27 2014 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/Sissors/code/MODSERIAL/#2e4e3795a093

--- a/main.cpp	Wed Oct 15 13:57:45 2014 +0000
+++ b/main.cpp	Fri Oct 17 08:47:27 2014 +0000
@@ -3,92 +3,50 @@
 #include "HIDScope.h"
 
 #define TSAMP 0.01
-#define K_P (0.01)
-#define K_I (0  *TSAMP)
-#define K_D (0      /TSAMP)
-#define I_LIMIT 1.
-
-#define POT_AVG 50
 
 void clamp(float * in, float min, float max);
-float pid(float setpoint, float measurement);
-AnalogIn potmeter(PTC2);
 volatile bool looptimerflag;
-float potsamples[POT_AVG];
 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()
 {
-    //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
-    pwm_motor.period_us(100);
-    DigitalOut motordir(PTD1);
+    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 setpoint;
-        float new_pwm;        
+        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 = 1; // DIT IS PUUR VOOR DE STEPFUNCTION
-        //new_pwm = pid(setpoint, motor1.getPosition());
+
+        new_pwm = 1; 
         clamp(&new_pwm, -1,1);
-        //scope.set(0, setpoint);
-        scope.set(1, new_pwm);
-        scope.set(2, motor1.getPosition());
-        // ch 1, 2 and 3 set in pid controller 
+
+        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));
     }
-}
-
-
-//clamps value 'in' to min or max when exceeding those values
-//if you'd like to understand the statement below take a google for
-//'ternary operators'.
-void clamp(float * in, float min, float max)
-{
-    *in > min ? *in < max? : *in = max: *in = min;
-}
-
-/*
-float pid(float setpoint, float measurement)
-{
-    float error;
-    static float prev_error = 0;
-    float           out_p = 0;
-    static float    out_i = 0;
-    float           out_d = 0;
-    error  = setpoint-measurement;
-    out_p  = error*K_P;
-    out_i += error*K_I;
-    out_d  = (error-prev_error)*K_D;
-    clamp(&out_i,-I_LIMIT,I_LIMIT);
-    prev_error = error;
-    scope.set(1,out_p);
-    scope.set(2,out_i);
-    scope.set(3,out_d);
-    return out_p + out_i + out_d;    
-}
-*/
-
+}
\ No newline at end of file