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Programming Milestone Group 7 BMT M9
Dependencies: FastPWM MODSERIAL mbed
main.cpp
- Committer:
- MAHCSnijders
- Date:
- 2018-09-26
- Revision:
- 5:92360cb2e0e4
- Parent:
- 4:a4cd6f9c851d
- Child:
- 6:b5fc5007f228
File content as of revision 5:92360cb2e0e4:
#include "mbed.h" #include "FastPWM.h" #include "MODSERIAL.h" Ticker motor; // Ticker function 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() { 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(); // reads out value potmeter 2 between 0-1 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() { pwmpin1.period_us(60.0); //60 microseconds PWM period, 16.7 kHz, defines all PWM pins (only needs to be done once) motor.attach(motorfunction,0.5); while(true){} //Lege while loop zodat functie niet afloopt }