Diff: main.cpp

Revision:

2:ee821b9bf42b

Parent:

1:6be8bcde9f05

Child:

3:c1ef4d7490c1

--- a/main.cpp	Mon Oct 10 12:07:25 2016 +0000
+++ b/main.cpp	Mon Oct 10 13:11:05 2016 +0000
@@ -2,6 +2,8 @@
 #include <math.h>
 #include "MODSERIAL.h"
 
+DigitalOut led1 (D12); 
+DigitalOut led2 (D10);
 AnalogIn potMeterIn(PTB2);
 DigitalIn button1(D7);
 DigitalOut motor1DirectionPin(D4);
@@ -22,14 +24,17 @@
     // Returns reference velocity in rad/s. 
     // Positive value means clockwise rotation.
     const float maxVelocity = 8.4; // in rad/s of course!
-    if (button1)
-    {
+    if (button1 == 0){
+        led1=1;
+        led2=0;
         // Clockwise rotation
-        referenceVelocity = potMeterIn.read() * maxVelocity;
-    } else
-    {
+        referenceVelocity = potMeterIn * maxVelocity;  
+    } 
+    else {   
+        led1=0;
+        led2=1;
         // Counterclockwise rotation
-        referenceVelocity = -1*potMeterIn.read() * maxVelocity;
+        referenceVelocity = -1*potMeterIn * maxVelocity;
     }
     return referenceVelocity;
 }
@@ -38,7 +43,7 @@
 {
     // very simple linear feed-forward control
     const float MotorGain=8.4; // unit: (rad/s) / PWM
-    volatile float motorValue = referenceVelocity / MotorGain;
+    float motorValue = referenceVelocity / MotorGain;
     return motorValue;
 }
 
@@ -66,16 +71,27 @@
 
 void TimeTrackerF(){
      wait(1);   
+     float Potmeter = potMeterIn.read();
+     float motorValue; 
      pc.printf("Reference velocity: %f rad/s \r\n", referenceVelocity);
+     pc.printf("MotorValue: %f rad/s \r\n", motorValue);
+     pc.printf("Potmeter: %f rad/s \r\n", Potmeter);
 }
 
 int main()
 {
  //Initialize
- MeasureTicker.attach(&MeasureTicker_act, 0.1f); 
- TimeTracker.attach(&TimeTracker_act, 1.0f);
+ led1=0;
+ led2=0;
+ float Potmeter = potMeterIn.read();
+ float motorValue; 
+ MeasureTicker.attach(&MeasureTicker_act, 0.01f); 
+ TimeTracker.attach(&TimeTracker_act, 0.1f);
  pc.baud(115200);  
- pc.printf("Reference velocity: %f rad/s \r\n", referenceVelocity);  
+ pc.printf("Reference velocity: %f rad/s \r\n", referenceVelocity);
+ pc.printf("MotorValue: %f rad/s \r\n", motorValue);
+ pc.printf("Potmeter: %f rad/s \r\n", Potmeter);
+ 
  while(1)
     {
         if (MeasureTicker_go){