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encoder
Dependencies: MODSERIAL mbed HIDScope biquadFilter
Fork of Project_script by
Diff: main.cpp
- Revision:
- 6:f4bbb73f3989
- Parent:
- 5:107eb09fb095
- Child:
- 7:f32005d13749
--- a/main.cpp Sun Sep 16 13:50:44 2018 +0000 +++ b/main.cpp Mon Oct 01 11:42:25 2018 +0000 @@ -1,24 +1,71 @@ #include "mbed.h" #include "MODSERIAL.h" -DigitalOut gpo(D0); -DigitalOut myled(LED_GREEN); +DigitalOut directionpin1(D4); +PwmOut pwmpin1(D5); +AnalogIn potmetervalue1(A1); +DigitalIn button2(D9); //klopt dit? + +DigitalOut directionpin2(D7); +PwmOut pwmpin2(D6); +AnalogIn potmetervalue2(A2); +DigitalIn button1(D10); //klopt dit? + MODSERIAL pc(USBTX, USBRX); -DigitalIn button(PTA4); int main() { pc.baud(115200); - pc.printf("Hello World!\r\n"); - char c; - c = pc.getc(); - pc.printf(" %c \n",c); + pc.printf("hello\n\r"); + pwmpin1.period_us(60); //60 microseconds PWM period, 16.7 kHz + while (true) { - gpo = !gpo; - myled = !myled; // toggle a led - wait (0.5f); + + float u1 = potmetervalue1; + float u2 = potmetervalue2; + + float m1 = ((u1*2.0f)-1.0f); + float m2 = ((u2*2.0f)-1.0f); + + // pc.printf("Motor value is %f\n\r",m); + + /*if (m <= -0.005) + { + directionpin.write(0); + pwmpin = fabs(m); //pwm duty cycle can only be positive, floating + pwmpin.period_us(60); //60 microseconds PWM period, 16.7 kHz + pc.printf("Motor draait naar A\n\r"); + } + + else if (m >= 0.005) + { + directionpin.write(1); + pwmpin = fabs(m); + pwmpin.period_us(60); //60 microseconds PWM period, 16.7 kHz + pc.printf("Motor draait naar B\n\r"); + + } + + else if (-0.4 < m && m < 0.) + { + //pwmpin = 0.0; + pwmpin.period_us(60); //60 microseconds PWM period, 16.7 kHz + pc.printf("Motor zou moeten stoppen.\n\r"); + } + + Met deze code kunnen we serial communication gebruiken. Als we dit niet nodig hebben en alleen de motor willen aansturen, dan gebruiken we de code hieronder. + */ + + pwmpin1 = fabs(m1*0.6f)+0.4f; //pwm duty cycle can only be positive, floating, 0.4f is "inefficiënt", dit tellen we erbij op, en keer 0.6 om te corrigeren voor de helling. + directionpin1.write(m1>0); //Indien waar, motor draait rechtsom. Indien niet waar, motor draait linksom. + wait(0.001f); //zodat de code niet oneindig doorgaat. + + pwmpin2 = fabs(m2*0.6f)+0.4f; + directionpin2.write(m2>0); + wait(0.001f); + } }