Diff: main.cpp

Revision:

2:ef0fa691e77e

Parent:

0:eb00992c1597

Child:

3:864137a5f702

--- a/main.cpp	Fri Oct 03 09:01:41 2014 +0000
+++ b/main.cpp	Fri Oct 03 10:15:30 2014 +0000
@@ -1,21 +1,19 @@
 #include "mbed.h"
 #include "encoder.h"
-#include "HIDScope.h"
-
 #define TSAMP 0.01
 #define K_P (0.01)
 #define K_I (0  *TSAMP)
-#define K_D (0      /TSAMP)
+#define K_D (0  /TSAMP)
 #define I_LIMIT 1.
 
 #define POT_AVG 50
 
 void clamp(float * in, float min, float max);
 float pid(float setpoint, float measurement);
+//-------------------------------------------------------------------------------------------Input potentiometer-------------------------------
 AnalogIn potmeter(PTC2);
 volatile bool looptimerflag;
 float potsamples[POT_AVG];
-HIDScope scope(6);
 
 
 void setlooptimerflag(void)
@@ -25,11 +23,8 @@
 
 int main()
 {
-    //start Encoder
     Encoder motor1(PTD0,PTC9);
-    /*PwmOut to motor driver*/
     PwmOut pwm_motor(PTA5);
-    //10kHz PWM frequency
     pwm_motor.period_us(100);
     DigitalOut motordir(PTD1);
     Ticker looptimer;
@@ -37,31 +32,23 @@
     while(1) {
         float setpoint;
         float new_pwm;
-        /*wait until timer has elapsed*/
         while(!looptimerflag);
-        looptimerflag = false; //clear flag
-        /*potmeter value: 0-1*/
-        setpoint = (potmeter.read()-.5)*500;        
-        /*new_pwm = (setpoint - motor1.getPosition())*.001; -> P action*/
+        looptimerflag = false;
+        //---------------------------------------------------------leest potentiometer (?), schaalt tussen 0 en 1------------------------------------
+        setpoint = (potmeter.read()-.5)*500;  
+        //----------------------------------------------------------------------new_pwm = getal?.....------------------------------------------------
         new_pwm = pid(setpoint, motor1.getPosition());
         clamp(&new_pwm, -1,1);
-        scope.set(0, setpoint);
-        scope.set(4, new_pwm);
-        scope.set(5, motor1.getPosition());
-        // ch 1, 2 and 3 set in pid controller */
-        scope.send();
+        //-------------------------------------------------------------------------------------output motor richting----------------------------------
         if(new_pwm > 0)
             motordir = 0;
         else
             motordir = 1;
+        //-------------------------------------------------------------------------------output motorsnelhied (wij willen 4 distinctive stappen)------
         pwm_motor.write(abs(new_pwm));
     }
 }
 
-
-//clamps value 'in' to min or max when exceeding those values
-//if you'd like to understand the statement below take a google for
-//'ternary operators'.
 void clamp(float * in, float min, float max)
 {
     *in > min ? *in < max? : *in = max: *in = min;
@@ -81,8 +68,5 @@
     out_d  = (error-prev_error)*K_D;
     clamp(&out_i,-I_LIMIT,I_LIMIT);
     prev_error = error;
-    scope.set(1,out_p);
-    scope.set(2,out_i);
-    scope.set(3,out_d);
     return out_p + out_i + out_d;
 }