Diff: main.cpp

Revision:

6:84a01494d836

Parent:

5:1b8032a15afe

--- a/main.cpp	Mon Oct 10 14:47:39 2016 +0000
+++ b/main.cpp	Mon Oct 10 15:03:42 2016 +0000
@@ -31,6 +31,8 @@
 // encoder in HIDScope setten
 void sample()
 {
+    QEI Encoder(D12, D13, NC, 32);
+    counts = Encoder.getPulses();  // gives position
     scope.set(0, counts);
     DerivativeCounts = (counts-countsPrev)/0.001;
     scope.set(1, DerivativeCounts);
@@ -87,14 +89,14 @@
     float referenceVelocity = GetReferenceVelocity();
     float motorValue = FeedForwardControl(referenceVelocity);
     SetMotor1(motorValue);
-    pc.printf("MotorValue: %f rad/s \r\n", motorValue);
+    //pc.printf("MotorValue: %f rad/s \r\n", motorValue);
 }
 
-void TimeTrackerF(){
-     wait(1);   
-     float Potmeter = potMeterIn.read();
-     pc.printf("Reference velocity: %f rad/s \r\n", referenceVelocity);
-     pc.printf("Potmeter: %f rad/s \r\n", Potmeter);
+//void TimeTrackerF(){
+     //wait(1);   
+     //float Potmeter = potMeterIn.read();
+     //pc.printf("Reference velocity: %f rad/s \r\n", referenceVelocity);
+     //pc.printf("Potmeter: %f rad/s \r\n", Potmeter);
       
 }
 
@@ -104,14 +106,14 @@
  led1=0;
  led2=0;
  int counts;
- float Potmeter = potMeterIn.read();
+ //float Potmeter = potMeterIn.read();
  MeasureTicker.attach(&MeasureTicker_act, 0.01f); 
  TimeTracker.attach(&TimeTracker_act, 0.3f);
  pc.baud(115200);
  QEI Encoder(D12, D13, NC, 32); // turns on encoder
  sampleT.attach(&sampleT_act, 0.001f);
- pc.printf("Reference velocity: %f rad/s \r\n", referenceVelocity);
- pc.printf("Potmeter: %f rad/s \r\n", Potmeter);
+ //pc.printf("Reference velocity: %f rad/s \r\n", referenceVelocity);
+ //pc.printf("Potmeter: %f rad/s \r\n", Potmeter);
  
  while(1)
     {
@@ -120,12 +122,12 @@
             MeasureTicker_go=false;
             MeasureAndControl();
             counts = Encoder.getPulses();  // gives position
-            pc.printf("Encoder counts: %i \r\n", counts); 
+            //pc.printf("Encoder counts: %i \r\n", counts); 
         }
-        if (TimeTracker_go){
+        /*if (TimeTracker_go){
             TimeTracker_go=false;
             TimeTrackerF();
-        }
+        }*/
         if (sampleT_go){
             sampleT_go=false;
             sample();