Diff: main.cpp

Revision:

0:8ea04b138f72

Child:

1:b7a1138131bb

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Oct 28 11:04:15 2016 +0000
@@ -0,0 +1,51 @@
+#include "mbed.h"
+#include "QEI.h"
+#include "HIDScope.h"
+
+// Definiëren van alle poorten
+
+DigitalIn encoder1A (D13); //Channel A van Encoder 1
+DigitalIn encoder1B (D12); //Channel B van Encoder 1
+DigitalIn encoder2A (D11); //Channel A van Encoder 2, kan niet op D15
+DigitalIn encoder2B (D10); //Channel B van Encoder 2, kan niet op D14
+DigitalOut motor1 (D7);
+PwmOut pwm_motor1 (D6);
+DigitalOut motor2 (D4);
+PwmOut pwm_motor2 (D5);
+HIDScope    scope( 2 );
+Ticker      sample_timer;
+
+double t;
+float pi=3.14159;
+float Aout;
+int counts1;
+int counts2;
+ 
+void sample()
+{
+    scope.set(0, counts1);
+    scope.set(1, counts2);
+    
+    scope.send();
+}
+
+
+int main() {
+    const double frequency_pwm = 100.0;
+    pwm_motor1.period(1.0/frequency_pwm);
+    QEI Encoder1(D12, D13, NC, 32); //maakt de encoder aan, NC niet aanwezig, 32 bits
+    QEI Encoder2(D10, D11, NC, 32); //maakt de encoder aan, NC niet aanwezig, 32 bits
+    sample_timer.attach(&sample, 0.0004);
+ 
+    while(true){
+            for (t=0; t<10; t=t+0.005) {
+                Aout=1*sin(2*pi*t);
+            }
+        motor1= Aout;
+        pwm_motor1.write(1.0);
+        counts1 = Encoder1.getPulses();
+        counts2 = Encoder2.getPulses();
+    }
+ }
+
+   
\ No newline at end of file