Marleen van Hoorn / Mbed 2 deprecated Project_script

inverse kinematics toegevoegd en tickers samengevoegd tot 1 ticker

Dependencies:   HIDScope MODSERIAL biquadFilter mbed

Fork of Project_script by Marijke Zondag

main.cpp

Committer:
MarijkeZondag
Date:
2018-10-15
Revision:
7:f32005d13749
Parent:
6:f4bbb73f3989
Child:
8:895d941a5910

File content as of revision 7:f32005d13749:

#include "mbed.h"
#include "MODSERIAL.h"

DigitalOut directionpin1(D4);
PwmOut pwmpin1(D5);
AnalogIn potmetervalue1(A1);
DigitalIn button2(D9);          //klopt dit?
DigitalIn encoderA(D9);
DigitalIn encoderB(D8);

DigitalOut directionpin2(D7);
PwmOut pwmpin2(D6);
AnalogIn potmetervalue2(A2);
DigitalIn button1(D10);          //klopt dit?

MODSERIAL pc(USBTX, USBRX);

int main()
{ 
    pc.baud(115200);
    pc.printf("hello\n\r");
    pwmpin1.period_us(60); //60 microseconds PWM period, 16.7 kHz 

    
    while (true)
    {
          
          float u1 = potmetervalue1;
          float u2 = potmetervalue2;
          
          float m1 = ((u1*2.0f)-1.0f);
          float m2 = ((u2*2.0f)-1.0f);
          
          int Ea = encoderA;
          int Eb = encoderB;
          
            int static Eas = 0;
            int static Ebs = 0;
          
        
        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);     
        
        if(A==1 && A>B)
        {  
            
            
    }
}