Diff: main.cpp

Revision:

1:f26a53da33ed

Parent:

0:2f40eb89ffce

Child:

2:665df4abd084

--- a/main.cpp	Mon Oct 10 10:35:03 2016 +0000
+++ b/main.cpp	Mon Oct 10 13:39:01 2016 +0000
@@ -2,45 +2,58 @@
 #include "QEI.h"
 #include "math.h"
 
-AnalogIn button1(A0);
-AnalogIn potMeterIn(A1);
-AnalogIn motor1DirectionPin(D4);
-AnalogIn motor1MagnitudePin(D5);
+
+InterruptIn button1(D3);
+AnalogIn potMeterIn(A5);
+DigitalOut motor1DirectionPin(D4);
+PwmOut motor1MagnitudePin(D5);
+
+Ticker foutprinter1;
+Ticker foutprinter2;
+Ticker callMotor;
+Serial pc(USBTX,USBRX);
 
-Ticker callMotor;
+volatile float motorValue=0.0;
+volatile float referenceVelocity=0.0;  // in rad/s
+const float maxVelocity=8.4; // in rad/s of course!
+const float MotorGain=8.4; // unit: (rad/s) / PWM
+
+
+void foutprint1()
+{
+ pc.printf("Draairichting = %i\n\r", motor1DirectionPin);
+}
+
+
+
+void foutprint2()
+{
+ pc.printf("Ref Vel = %f\n\r", referenceVelocity)   ;
+}
+
+
 
 float getReferenceVelocity()
 {
     // Returns reference velocity in rad/s. 
     // Positive value means clockwise rotation.
-    const float maxVelocity=8.4; // in rad/s of course!
-   
-    float referenceVelocity;  // in rad/s
-
-
     if (button1)
-   {
-        // Clockwise rotation
-     
-        referenceVelocity = potMeterIn * maxVelocity;
-
-
-          } 
-          else
- {
+        {
+          // Clockwise rotation
+            referenceVelocity = potMeterIn * maxVelocity;
+        } 
+    else
+        {
         // Counterclockwise rotation
-      
         referenceVelocity = -1*potMeterIn * maxVelocity;
-  
-          }
+        }
     return referenceVelocity;
 }
 
 float FeedForwardControl(float referenceVelocity)
 {
     // very simple linear feed-forward control
-    const float MotorGain=8.4; // unit: (rad/s) / PWM
-    float motorValue = referenceVelocity / MotorGain;
+ motorValue = referenceVelocity / MotorGain;
     return motorValue;
 }    
     
@@ -50,10 +63,10 @@
     // bits for motor 1. Positive value makes motor rotating
     // clockwise. motorValues outside range are truncated to
     // within range
-    if (motorValue >=0) motor1DirectionPin==1;
-        else motor1DirectionPin==0;
-    if (fabs(motorValue)>1) motor1MagnitudePin == 1;
-        else motor1MagnitudePin == fabs(motorValue);
+    if (motorValue >=0.0) motor1DirectionPin=1;
+        else motor1DirectionPin=0;
+    if (fabs(motorValue)>1) motor1MagnitudePin = 1;
+        else motor1MagnitudePin = fabs(motorValue);       
 }
 
 void MeasureAndControl(void)
@@ -61,16 +74,19 @@
     // This function measures the potmeter position, extracts a
     // reference velocity from it, and controls the motor with 
     // a simple FeedForward controller. Call this from a Ticker.
-    float referenceVelocity = getReferenceVelocity();
-    float motorValue = FeedForwardControl(referenceVelocity);
+    referenceVelocity = getReferenceVelocity();
+    motorValue = FeedForwardControl(referenceVelocity);
     SetMotor1(motorValue);
 }
  
-    
 int main()
-{
-    while (true) {
-        callMotor.attach(MeasureAndControl, 0.1f);
+{        
+motor1MagnitudePin.period(1.0);
+foutprinter1.attach(foutprint1,1.0f);
+foutprinter2.attach(foutprint2,1.0f);
+callMotor.attach(MeasureAndControl, 0.1f);
+         pc.baud(115200);
+    while (true) {             
                 } 
 }