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final version
Dependencies: HIDScope MODSERIAL QEI biquadFilter mbed
Fork of Project_script_union_final by
main.cpp
- Committer:
- MarijkeZondag
- Date:
- 2018-10-15
- Revision:
- 9:c722418997b5
- Parent:
- 8:895d941a5910
- Child:
- 10:39ec51206c8b
File content as of revision 9:c722418997b5:
#include "mbed.h" #include "MODSERIAL.h" AnalogIn potmetervalue1 (A1); AnalogIn potmetervalue2 (A2); DigitalIn button2 (D10); //Let op, is deze niet bezet? InterruptIn encoderA (D9); InterruptIn encoderB (D8); DigitalOut directionpin1 (D4); DigitalOut directionpin2 (D7); PwmOut pwmpin1 (D5); PwmOut pwmpin2 (D6); MODSERIAL pc(USBTX, USBRX); //Global variables int encoder = 0; //Functions void encoderA_rise() { if(encoderB==false) { encoder++; } else { encoder--; } } void encoderA_fall() { if(encoderB==true) { encoder++; } else { encoder--; } } void encoderB_rise() { if(encoderA==true) { encoder++; } else { encoder--; } } void encoderB_fall() { if(encoderA==false) { encoder++; } else { encoder--; } } // Main function start. int main() { pc.baud(115200); pc.printf("hello\n\r"); pwmpin1.period_us(60); //60 microseconds PWM period, 16.7 kHz encoderA.rise(&encoderA_rise); encoderA.fall(&encoderA_fall); encoderB.rise(&encoderB_rise); encoderB.fall(&encoderB_fall); while (true) { float u1 = potmetervalue1; float u2 = potmetervalue2; float m1 = ((u1*2.0f)-1.0f); float m2 = ((u2*2.0f)-1.0f); 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(0.01f); //zodat de code niet oneindig doorgaat. pwmpin2 = fabs(m2*0.6f)+0.4f; directionpin2.write(m2>0); pc.printf("Encoder count: %i \n\r",encoder); //We moeten de encoder counts nog omzetten naar radialen of graden? } }