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Programming Milestone Group 7 BMT M9
Dependencies: FastPWM MODSERIAL mbed
Diff: main.cpp
- Revision:
- 2:6d3f3d1bcef7
- Parent:
- 1:67b19c59b8c9
- Child:
- 3:cb0a931ff019
- Child:
- 4:a4cd6f9c851d
--- a/main.cpp Tue Sep 25 12:41:08 2018 +0000 +++ b/main.cpp Tue Sep 25 14:58:08 2018 +0000 @@ -1,29 +1,43 @@ #include "mbed.h" #include "FastPWM.h" #include "MODSERIAL.h" +MODSERIAL pc(USBTX, USBRX); Ticker motor; // ticker function -FastPWM pwmpin(D5); // SPECIFIC PIN (hoeft niet aangesloten te worden) Tells you how fast the motor has to go (later: pwmpin.write will tell you the duty cycle, aka how much voltage the motor gets) +FastPWM pwmpin1(D5); // SPECIFIC PIN (hoeft niet aangesloten te worden) Tells you how fast the motor has to go (later: pwmpin.write will tell you the duty cycle, aka how much voltage the motor gets) +FastPWM pwmpin2(D6); // SPECIFIC PIN (hoeft niet aangesloten te worden) Tells you how fast the motor has to go (later: pwmpin.write will tell you the duty cycle, aka how much voltage the motor gets) DigitalOut directionpin1(D4); // SPECIFIC PIN (hoeft niet aangesloten te worden) Direction value (0-1) that the mbed will give the motor: in which direction the motor must rotate DigitalOut directionpin2(D7); // SPECIFIC PIN (hoeft niet aangesloten te worden) Direction value (0-1) that the mbed will give the motor: in which direction the motor must rotate AnalogIn potmeter1(A0); // Analoge input van potmeter 1 AnalogIn potmeter2(A1); // Analoge input van potmeter 2 +volatile float pot1; +volatile float pot2; +volatile float pot1_scale; +volatile float pot2_scale; +volatile float u1; +volatile float u2; + void motorfunction() -{ float pot1 = potmeter1.read(); // Reads out value potmeter 1 between 0-1 - float pot1_scale = pot1*2 -1; // Scales value potmeter from 0-1 to -1 - 1. - float pot2 = potmeter2.read(); - float pot2_scale = pot2*2 -1; // Scales value potmeter from 0-1 to -1 - 1. - float u1 = pot1_scale; // motor control signal - float u2 = pot2_scale; // motor control signal - directionpin1 = u1 > 0.0f; //either true or false, determines direction (0 or 1) - directionpin2 = u2 > 0.0f; //either true or false - pwmpin = fabs(u1); //pwm duty cycle can only be positive, floating point absolute value (if value is >0, the there still will be a positive value). +{ pot1 = potmeter1.read(); // Reads out value potmeter 1 between 0-1 + pot1_scale = pot1*2 -1; // Scales value potmeter from 0-1 to -1 - 1. + pot2 = potmeter2.read(); + pot2_scale = pot2*2 -1; // Scales value potmeter from 0-1 to -1 - 1. + u1 = pot1_scale; // motor control signal + u2 = pot2_scale; // motor control signal + directionpin1 = u1 > 0.0f; //either true or false, determines direction (0 or 1) + directionpin2 = u2 > 0.0f; //either true or false + pwmpin1 = fabs(u1); //pwm duty cycle can only be positive, floating point absolute value (if value is >0, the there still will be a positive value). + pwmpin2 = fabs(u2); //pwm duty cycle can only be positive, floating point absolute value (if value is >0, the there still will be a positive value). } int main() { - pwmpin.period_us(60.0); //60 microseconds PWM period, 16.7 kHz - motor.attach(motorfunction,0.3); - while(true){} //Lege while loop zodat functie niet afloopt + pwmpin1.period_us(60.0); //60 microseconds PWM period, 16.7 kHz, defines all PWM pins (only needs to be done once) + pc.baud(115200); + motor.attach(motorfunction,0.5); + while(true){ + pc.printf("%f \n, %f \n, %f\n", pot1,pot1_scale, u1); + wait(1.0f); + } //Lege while loop zodat functie niet afloopt } \ No newline at end of file