Marlies Weggemans / Mbed 2 deprecated Biorobotics_g15_gezamelijk710

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   mbed QEI HIDScope biquadFilter MODSERIAL FastPWM demomode

main.cpp

Committer:
Mortimerz
Date:
2019-10-04
Revision:
24:0b5b7ec374e6
Parent:
23:cd0a4eb31a90
Child:
25:00488a279da1

File content as of revision 24:0b5b7ec374e6:

#include "mbed.h"
#include "MODSERIAL.h"
#include "FastPWM.h"
#include "QEI.h"
#include "math.h"

Serial pc(USBTX,USBRX);

// functies aan PINs toevoegen
DigitalOut led1(D2);
FastPWM led(PTA1);
FastPWM motor1(D6);
DigitalOut motor1_dir(D7);
FastPWM motor2(D5);
DigitalOut motor2_dir(D4);
AnalogIn pot1(PTB2);
AnalogIn pot2(PTB3);
InterruptIn button1(PTB10);
InterruptIn button2(PTB11);

// timer opzetten = ticker
Ticker ticker;

// opzetten van hoekbepaling
QEI encoder(D13,D12,NC,32,QEI::X4_ENCODING);
QEI encoder_2(D11,D10,NC,32,QEI::X4_ENCODING);

//Global values
int motordir1 = 1;
int motordir2 = 1;
double Kp = 17.5;

// aparte functies
//functie motor aansturen met pot



void motor_position(double y_des)
{
    
    double y_pos = encoder_2.getPulses();
    double y_poscorrect = y_pos/8400.0;
    double error = y_des-y_poscorrect;
    if (error >=0) motor1_dir=1;
    else motor1_dir=0;
    if (fabs(error)>1) motor1 = 1;
    else motor1 = fabs(error);
}
  

void main_loop()
{   
        double y_des = pot1.read();
        motor_position(y_des);
        
}

int main()
{ 
    motor1_dir.write(motordir1);
    motor2_dir.write(motordir2);
    ticker.attach(&main_loop, 0.1f);
    while(true){
        pc.printf("pot1(%f),enc1 is (%d),pot2(%f),enc2 is (%d)\r\n",pot1.read(),encoder.getPulses(),pot2.read(),encoder_2.getPulses());
        wait(0.1f);
        };  
}