Diff: main.cpp

Revision:

0:92c7924a73dc

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Oct 14 20:42:26 2015 +0000
@@ -0,0 +1,82 @@
+#include "mbed.h"
+#include "HIDScope.h"
+#include "encoder.h"
+
+
+//pinverdeling en naamgeving variabelen
+Encoder motor1(D13,D12);
+Encoder motor2(D11,D10);        // telt pulsen bij verdraaiing en zet dit om in de rotatiehoek
+PwmOut led(D9);
+DigitalOut motor1_direction(D4);
+PwmOut motor1_speed(D5);
+DigitalOut motor2_direction(D7); // motor direction
+PwmOut motor2_speed(D6);         // motor speed
+DigitalIn button_1(PTC6);       // counterclockwise
+DigitalIn button_2(PTA4);       // clockwise
+HIDScope scope(2);              // Hidscope met 2channels
+
+const int pressed = 0;     //signaal(beweging) bij indrukken
+
+void move_motor1_ccw()
+{
+    motor1_direction = 1;
+    motor1_speed = 1;
+}
+
+void move_motor2_ccw ()   //beweging ccw motor 2, signaal van linker bovenbeen
+{
+    motor2_direction = 0;
+    motor2_speed = 1;
+}
+
+void move_motor1_cw()
+{
+    motor1_direction = 0;
+    motor1_speed = 0.2;
+    }
+
+    void move_motor2_cw (){ // beweging cw motor 1, signaal van rechter bovenbeen
+        motor2_direction = 1;
+        motor2_speed = 0.2;
+    }
+
+    void read_encoder1() {
+        scope.set(0,motor1.getPosition());
+        led.write(motor1.getPosition()/100.0);
+        scope.send();
+        wait(0.2f);
+    }
+
+    void read_encoder2 () { // aflezen van encoder via hidscope??
+        scope.set(1,motor2.getPosition());
+        led.write(motor2.getPosition()/100.0);
+        scope.send();
+        wait(0.2f);
+    }
+
+    void move12() { // beweging van motor 2 cw of ccw d.m.v. button 3 of 4
+
+        if (button_1 == pressed) {
+            move_motor1_cw ();
+            move_motor2_cw();
+            }
+        else if (button_2== pressed) {
+            move_motor1_ccw();
+            move_motor2_ccw ();
+            }
+        else {
+            motor1_speed = 0;
+            motor2_speed = 0;
+        }
+    }
+
+//uitvoeren van script
+    int main() {
+        while (true) {
+
+            read_encoder1();
+            read_encoder2();
+            move12();
+        }
+
+    }