Diff: main.cpp

Revision:

21:363271dcfe1f

Parent:

20:695140b8db2f

Child:

22:71524e4fd1f2

Child:

24:d255752065d1

Child:

46:7c14fc3caf52

--- a/main.cpp	Mon Oct 22 14:29:37 2018 +0000
+++ b/main.cpp	Mon Oct 22 14:50:31 2018 +0000
@@ -7,9 +7,30 @@
 #include "BiQuad.h"
 
 // Input
+AnalogIn pot1(A1);
+AnalogIn pot2(A2);
+InterruptIn button1(D0);
+InterruptIn button2(D1);
+InterruptIn emergencybutton(SW2);  /* This is not yet implemented! 
+The button SW2 on the K64F is the emergency button: if you press this, 
+everything will abort as soon as possible
+*/
+
+DigitalIn pin8(D8);     // Encoder 1 B
+DigitalIn pin9(D9);     // Encoder 1 A
+DigitalIn pin10(D10);   // Encoder 2 B
+DigitalIn pin11(D11);   // Encoder 2 A
+DigitalIn pin12(D12);   // Encoder 3 B
+DigitalIn pin13(D13);   // Encoder 3 A
 
 // Output
-
+DigitalOut pin2(D2);    // Motor 3 direction
+FastPWM pin3(D3);       // Motor 3 pwm
+DigitalOut pin4(D4);    // Motor 2 direction
+FastPWM pin5(D5);       // Motor 2 pwm
+FastPWM pin6(D6);       // Motor 1 pwm
+DigitalOut pin7(D7);    // Motor 1 direction
+//float u1  = pot1;
 
 // Utilisation of libraries
 MODSERIAL   pc(USBTX, USBRX);
@@ -37,7 +58,7 @@
     angle2 = ((float)counts2*2.0*pi)/4200.0;
     angle3 = ((float)counts3*2.0*pi)/4200.0;
          
-    pc.printf("Counts1: %i  Angle1: %f      Counts2: %i  Angle2: %f\r\n",counts1,angle1,counts2,angle2);
+    pc.printf("Counts3: %i  Angle3: %f      Counts2: %i  Angle2: %f\r\n",counts3,angle3,counts2,angle2);
 }
 
 void draaibuttons()         
@@ -59,6 +80,7 @@
             {   u3 = 1.0f;
             }
         }
+}
     
 void draai()    
 /*  Function for the movement of all motors, using the potmeters for the moving
@@ -100,7 +122,20 @@
 int main()
 {   
     pc.baud(115200);
+        
+    pin5.period(1.0/10000);
+    button1.rise(&draaibuttons);       
+    button2.rise(&draaibuttons);
     
+    pin3.period_us(50);
+    motor.attach(draai, 0.001);
+   
+    pin5.period_us(50);
+    motor.attach(draai, 0.001);
+    
+    pin6.period_us(50);
+    motor.attach(draai, 0.001);
+
             
     while   (true)
     {   Encoderinput();