Diff: main.cpp

Revision:

14:e21cb701ccb8

Parent:

13:6556cd086d07

Child:

15:a52be6368cd5

Child:

19:1d0b25d4d775

--- a/main.cpp	Fri Oct 12 12:24:24 2018 +0000
+++ b/main.cpp	Mon Oct 15 12:56:25 2018 +0000
@@ -5,6 +5,7 @@
 #include "HIDScope.h"
 #include "BiQuad.h"
 
+// Input
 AnalogIn pot1(A1);
 AnalogIn pot2(A2);
 InterruptIn button1(D0);
@@ -14,13 +15,14 @@
 everything will abort as soon as possible
 */
 
-DigitalIn pin8(D8);     // Encoder 1 u3
+DigitalIn pin8(D8);     // Encoder 1 B
 DigitalIn pin9(D9);     // Encoder 1 A
-DigitalIn pin10(D10);   // Encoder 2 u3
+DigitalIn pin10(D10);   // Encoder 2 B
 DigitalIn pin11(D11);   // Encoder 2 A
-DigitalIn pin12(D12);   // Encoder 3 u3
+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
@@ -29,6 +31,7 @@
 DigitalOut pin7(D7);    // Motor 1 direction
 //float u1  = pot1;
 
+MODSERIAL pc(USBTX, USBRX);
 Ticker motor;
 float u3 = 0.0;         // Normalised variable for the movement of motor 3
 
@@ -38,24 +41,20 @@
         simultaneously results for the turning speed of motor 3 in a slower movement,
         and eventually the motor will turn the other way around.
     */
-    if (button1 == 1)
-    {   if (button2 == 1)
-        {   u3 = u3 + 0.1f;  //In stapjes van 0.1
-            pin3 = fabs(u3);
+    if (button1 == 1 && button2 == 1)
+        {   u3 = u3 + 0.1f;  //In stapjes van 0.1            
             if (u3>1.0f)
             {   u3 = 1.0f;
             }
         }
-    }
-    else if (button1 == 0)
-    {   if (button2 == 1)
+    
+    else if (button1 == 0 && button2 == 1)
         {   u3 = u3 - 0.1f;
-            pin3 = fabs(u3);
             if (u3>1.0f)
             {   u3 = 1.0f;
             }
         }
-    }
+    
 }
 
 void draai()    
@@ -90,11 +89,14 @@
     }
     else
     {   pin3 = 0;
-    }   
+    }
+    pin3 = fabs(u3);   
 }
 
 int main()
 {
+    pc.baud(115200);
+    
     pin5.period(1.0/10000);
     button1.rise(&draaibuttons);       
     button2.rise(&draaibuttons);