Diff: main.cpp

Revision:

17:0ae9e8c958f8

Parent:

16:720365110953

Child:

18:ca084c362855

diff -r 720365110953 -r 0ae9e8c958f8 main.cpp
--- a/main.cpp	Fri Oct 19 10:52:31 2018 +0000
+++ b/main.cpp	Fri Oct 19 12:43:58 2018 +0000
@@ -7,141 +7,27 @@
 #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
-*/
-/* Isn't needed anymore --> directly used in QEI
-DigitalIn pin8(D8);       // Encoder 1 B
-DigitalIn pin9(D9);       // Encoder 1 A
-InterruptIn pin10(D10);     // Encoder 2 B
-InterruptIn pin11(D11);     // Encoder 2 A
-InterruptIn pin12(D12);     // Encoder 3 B
-InterruptIn 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
 
 // Utilisation of libraries
 MODSERIAL   pc(USBTX, USBRX);
-Ticker      motor;
-QEI         Encoder1(D8,D9,NC,32);      // Order of D8 and D9 still needs to be determined
-QEI         Encoder2(D10,D11,NC,32);   
-QEI         Encoder3(D12,D13,NC,32);
-//Ticker      derivative;
+QEI         Encoder1(D10,D11,NC,4200);      // Counterclockwise motor rotation is the positive direction
+QEI         Encoder2(D8,D9,NC,4200);        // Counterclockwise motor rotation is the positive direction
 
 // Global variables
-//double    u1  = pot1;
-double  u3 = 0.0;         // Normalised variable for the movement of motor 3
 
 // Functions
-void    turnbuttons()         
-{   /*  Pressing button 2 concludes in a change of speed. While button 1 is pressed,
-        the direction of change of speed is reversed. So pressing button 1 and 2
-        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 && button2 == 1)
-        {   u3 = u3 + 0.1f;  //In stapjes van 0.1            
-            if  (u3>1.0f)
-            {   u3 = 1.0f;
-            }
-        }
-    else if (button1 == 0 && button2 == 1)
-        {   u3 = u3 - 0.1f;
-            if  (u3>1.0f)
-            {   u3 = 1.0f;
-            }
-        }
-}
-
-void    turn()    
-/*  Function for the movement of all motors, using the potmeters for the moving
-    direction and speed of motor 1 and 2, and using button 1 and 2 on the biorobotics
-    shield for the moving direction and speed of motor 3.
-*/
-{   // Controls motor 1 velocity through potmeter 1   
-    double  u1 = 2.0*(pot1 - 0.5);    // Normalised variable for the movement of motor 1
-    if  (u1>0)
-    {   pin4 = true;
-    }
-    else if (u1<0)
-    {   pin4 = false;    
-    }
-    pin5 = fabs(u1);
-    // Controls motor 2 velocity through potmeter 2
-    double  u2 = 2.0*(pot2 - 0.5);    // Normalised variable for the movement of motor 2
-    if  (u2<0)
-    {   pin7 = true;
-    }
-    else if (u2>0)
-    {   pin7 = false;    
-    }
-    pin6 = fabs(u2);
-    // Controls motor 3 velocity through the buttons
-    if  (u3>0)           //can maybe be deleted?
-    {   pin2 = true;
-    }
-    else if (u3<0)
-    {   pin2 = false; 
-    }
-    else
-    {   pin3 = 0;
-    }
-    pin3 = fabs(u3);   
-}
-/*
-//Derivative program to test, needs to work at 1000 Hz
-void    derivefunction(double x, double xprev, double tsample)
-{   double deriv = (x - xprev)/tsample;
-    
-}
-*/
-
-/* Emergency program to test
-void    Emergency()
-if emergencybutton == 1;
-{   while (true)
-    {
-    }
-}
-*/
 
 // Main program
 int main()
 {
     pc.baud(115200);
-    
-    pin5.period(1.0/10000);
-    pin3.period_us(50);   
-    pin5.period_us(50);    
-    pin6.period_us(50);
-    
-    // Ticker
-    motor.attach(turn, 0.001);
-    //derivative.attach(derivefunction, 1/1000)
-    
-    // Interrupts
-    button1.rise(&turnbuttons);       
-    button2.rise(&turnbuttons);
-    
-    // Encoder, this code doesn't work
-    // Our encoder doesn't have a NC, what do we need to fill in for that?
-    int counts1 = Encoder1.getPulses();
-    int counts2 = Encoder2.getPulses();
-    int counts3 = Encoder3.getPulses();
-        
+            
     while   (true)
-    {        
+    {     
+        int counts1 = Encoder1.getPulses();
+        int counts2 = Encoder2.getPulses(); 
+        pc.printf("Counts1: %i      Counts2: %i\r\n",counts1,counts2); 
     }
 }
\ No newline at end of file