Jelle Harbers
Movement motor 1 and 2
Dependencies: Encoder HIDScope mbed
Revision 0:92c7924a73dc, committed 2015-10-14
- Comitter:
- JelleH
- Date:
- Wed Oct 14 20:42:26 2015 +0000
- Commit message:
- Motor 1 en motor 2 bewegen beide op dezelfde snelheid als er op de knop wordt gedrukt. Echter is opvallend dat bij motor 1 ccw de direction 1 is, en bij motor 2 ccw de direction 0 is terwijl ze toch beide ccw bewegen
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Encoder.lib Wed Oct 14 20:42:26 2015 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/users/vsluiter/code/Encoder/#18b000b443af
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/HIDScope.lib Wed Oct 14 20:42:26 2015 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/users/tomlankhorst/code/HIDScope/#5020a2c0934b
--- /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();
+ }
+
+ }
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Wed Oct 14 20:42:26 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/ba1f97679dad \ No newline at end of file