Diff: main.cpp

Revision:

21:cd7eb62183da

Parent:

20:f5091e29cd26

Child:

23:6b7695ffadcb

--- a/main.cpp	Fri Oct 02 17:22:17 2015 +0000
+++ b/main.cpp	Fri Oct 02 18:15:24 2015 +0000
@@ -18,9 +18,12 @@
 PwmOut motor2speed(D5);
 
 //Tickers
-Ticker ScopeTime;
-Ticker myControllerTicker;
-Ticker PrintTime;
+Ticker t1, t2, t3, t4;
+volatile bool fn1_go = false, fn2_go = false, fn3_go = false, fn4_go = false;
+void fn1_activate(){ fn1_go = true; }; //Activates the go−flag
+void fn2_activate(){ fn2_go = true; };
+void fn3_activate(){ fn3_go = true; };
+void fn4_activate(){ fn4_go = true; };
 
 //Startwaarden
 double reference;
@@ -88,7 +91,6 @@
 void motor2_Controller() 
 {
     reference = m2_ref; // Setpoint
-    double pulses = Encoder.getPulses();
     position = Encoder.getPulses()*360/(0.5*128*131); // Aantal Degs
     double P2 = PID( reference - position, m2_Kp, m2_Ki, m2_Kd, m2_Ts, m2_err_int, m2_prev_err, m2_f_v1, m2_f_v2, m2_f_a1, m2_f_a2, 
     m2_f_b0, m2_f_b1, m2_f_b2);
@@ -111,30 +113,50 @@
     LedG.write(1);
     pc.baud(115200);
     pc.printf("Tot aan loop werkt\n");
+
     
-    ScopeTime.attach_us(&ScopeSend, 10e4);
-    myControllerTicker.attach( &motor2_Controller, 0.01f ); // 100 Hz
-    PrintTime.attach(&PCPrintf,0.1f);
+    t1.attach( &fn1_activate, 0.01f); // Function@100hz
+    t2.attach( &fn2_activate, 0.001f); // Function@ 1khz
+    t3.attach( &fn3_activate, 0.2f); // Function@ 5hz
+    t4.attach( &fn3_activate, 0.02f); // Function@ 50hz
+
     while(true)
     {
         char c = pc.getc();
+        if(fn1_go)
+        {
+            fn1_go = false;
+            motor2_Controller();
+        }
+        if(fn2_go)
+        {
+            fn2_go = false;
+            ScopeSend();
+        }
+        if(fn3_go)
+        {
+            fn3_go = false;
+            PCPrintf();
+        }
+
         if(c == 'e') //Ga 1 programma omhoog
         {
-            count = count + 1;
+             count = count + 1;
             if(count > 2)
-                {
-                    count = 2;
-                }
-
+            {
+                count = 2;
+            }
         }
+        
         if(c == 'd') //Ga 1 programma omlaag
         {
             count = count - 1;
             if(count < 0)
-                {
-                    count = 0;
-                }
-        }      
+            {
+                count = 0;
+            }
+        }  
+            
         if(count == 0) //Motor 1 control
         {