Diff: main.cpp

Revision:

8:4f15670bc00b

Parent:

7:7c005b3cf288

--- a/main.cpp	Mon Oct 08 08:31:30 2018 +0000
+++ b/main.cpp	Mon Oct 08 09:37:48 2018 +0000
@@ -1,5 +1,6 @@
 #include "mbed.h"
 #include "FastPWM.h"
+#include <math.h>
 
 Ticker motor;
 
@@ -11,22 +12,36 @@
 DigitalOut pin7(D7);    // Motor 1 direction
 //float u1  = pot1;
 
+//float rad1 = 1.0/4.0*PI;    // Desired angle of motor 1 (needs to be calculated by the program)
+//float nrad1;
+
 void draai(){
     float u1 = 2.0*(pot1 - 0.5);    // Potmeter 1 connects to motor 1
-    u1>0;                         // Determines direction of motor 1
+    if (u1>0)                       // Determines direction of motor 1
+    {   pin4 = true;
+    }
+    else
+    {   pin4 = false;
+    }                           
     pin5 = fabs(u1);                // Determines pwm of motor 1
     
     float u2 = 2.0*(pot2 - 0.5);    // Potmeter 2 connects to motor 2
-    u2>0;                         // Determines direction of motor 2
+    if (u2>0)                       // Determines direction of motor 2
+    {   pin7 = true;
+    }
+    else
+    {   pin7 = false;
+    }  
     pin6 = fabs(u2);                // Determines pwm of motor 2
 }
 int main(){
-    pin5.period_us(50);
-    motor.attach(draai, 0.001);
-    pin6.period_us(50);
-    motor.attach(draai, 0.001);
+    
+
     while(true)
-    {
-      
+    {   //nrad1 = rad1/PI;        // Normalised desired angle of motor 1
+        pin5.period_us(50);
+        motor.attach(draai, 0.001);
+        pin6.period_us(50);
+        motor.attach(draai, 0.001);      
     }
 }
\ No newline at end of file