Diff: main.cpp

Revision:

1:b7a1138131bb

Parent:

0:8ea04b138f72

Child:

2:78a4dccff486

--- a/main.cpp	Fri Oct 28 11:04:15 2016 +0000
+++ b/main.cpp	Fri Oct 28 11:32:42 2016 +0000
@@ -12,20 +12,24 @@
 PwmOut pwm_motor1 (D6);
 DigitalOut motor2 (D4);
 PwmOut pwm_motor2 (D5);
-HIDScope    scope( 2 );
+HIDScope    scope( 4 );
 Ticker      sample_timer;
 
 double t;
 float pi=3.14159;
 float Aout;
+float PWMAout;
 int counts1;
 int counts2;
- 
+const int cw=0;
+const int ccw=1;
+
 void sample()
 {
     scope.set(0, counts1);
     scope.set(1, counts2);
-    
+    scope.set(2, Aout);
+    scope.set(3, PWMAout);
     scope.send();
 }
 
@@ -33,18 +37,36 @@
 int main() {
     const double frequency_pwm = 100.0;
     pwm_motor1.period(1.0/frequency_pwm);
+    pwm_motor2.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);
+    sample_timer.attach(&sample, 0.001);
  
     while(true){
-            for (t=0; t<10; t=t+0.005) {
+      for (t=0; t<10; t=t+0.05) {
                 Aout=1*sin(2*pi*t);
+                PWMAout=(Aout+1)/2;
+            if (Aout >=0) //clockwise rotation
+                {motor1=cw;        
+            }
+        else    //counterclockwise rotation 
+            {motor1=ccw;         
             }
-        motor1= Aout;
-        pwm_motor1.write(1.0);
+        pwm_motor1.write(PWMAout);
+    
+        if (Aout >=0) //clockwise rotation
+            {motor2=cw;        
+            }
+        else    //counterclockwise rotation 
+            {motor2=ccw;         
+            }
+        pwm_motor2.write(PWMAout);
+    
         counts1 = Encoder1.getPulses();
-        counts2 = Encoder2.getPulses();
+        counts2 = Encoder2.getPulses(); 
+     }
+            
+    
     }
  }