Diff: main.cpp

Revision:

11:3efd6a324f16

Parent:

10:ac36f9a204dd

Child:

12:ef4ba26d0e2f

Child:

13:6556cd086d07

diff -r ac36f9a204dd -r 3efd6a324f16 main.cpp
--- a/main.cpp	Mon Oct 08 13:28:40 2018 +0000
+++ b/main.cpp	Mon Oct 08 15:10:47 2018 +0000
@@ -1,12 +1,24 @@
 #include "mbed.h"
-#include "FastPWM.h"
+#include "FastPWM.h"    
+#include "QEI.h"        // Includes library for encoder
 
 Ticker motor;
 
 AnalogIn pot1(A1);
 AnalogIn pot2(A2);
-InterruptIn button2(SW2);
-InterruptIn button3(SW3);
+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 u3
+DigitalIn pin9(D9);     // Encoder 1 A
+DigitalIn pin10(D10);   // Encoder 2 u3
+DigitalIn pin11(D11);   // Encoder 2 A
+DigitalIn pin12(D12);   // Encoder 3 u3
+DigitalIn pin13(D13);   // Encoder 3 A
 
 DigitalOut pin2(D2);    // Motor 3 direction
 FastPWM pin3(D3);       // Motor 3 pwm
@@ -16,48 +28,41 @@
 DigitalOut pin7(D7);    // Motor 1 direction
 //float u1  = pot1;
 
-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
-
-float b;
+float u3 = 0.0;         // Normalised variable for the movement of motor 3
 
-void draaisnel()
-    {   if(button2 == 1)
-        {   //Interrupt voor rotatierichting clockwise
-            b = 0.4;  //In stapjes van 0.1
-            pin3 = fabs(b);
-        }
-        else if (button2 == 0)
-        {   //Interrupt voor rotatierichting 
+void draaibuttons()         
+{   /*  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)
+    {   if (button2 == 1)
+        {   u3 = u3 + 0.1;  //In stapjes van 0.1
+            pin3 = fabs(u3);
+            if (u3>1.0)
+            {   u3 = 1.0;
+            }
         }
     }
-void draailangzaam()
-    {   if(button3 == 1)
-        {  //Interrupt voor minder snelheid 
-            b = -0.4;
-            pin3 = fabs(b);
+    else if (button1 == 0)
+    {   if (button2 == 1)
+        {   u3 = u3 - 0.1;
+            pin3 = fabs(u3);
+            if (u3>1.0)
+            {   u3 = 1.0;
+            }
         }
     }
+}
 
-void draai()
-{   if (b>0)
-    {   pin2 = true;
-        b = b+0.1;
-    }
-    else if(b<0)
-    {   pin2 = false; 
-        b = b-0.1;
-    }
-    else
-    {   pin3 = 0;
-    }
-    pin3 = fabs(b);
-    
-    float u1 = 2.0*(pot1 - 0.5);
+void draai()    
+/*  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.
+*/
+{      
+    float u1 = 2.0*(pot1 - 0.5);    // Normalised variable for the movement of motor 1
     if (u1>0)
     {   pin4 = true;
     }
@@ -66,20 +71,31 @@
     }
     pin5 = fabs(u1);
     
-    float u2 = 2.0*(pot2 - 0.5);
-    if (u2>0)
+    float u2 = 2.0*(pot2 - 0.5);    // Normalised variable for the movement of motor 2
+    if (u2<0)
     {   pin7 = true;
     }
-    else if(u2<0)
+    else if(u2>0)
     {   pin7 = false;    
     }
-    pin6 = fabs(u2);     
+    pin6 = fabs(u2);  
+    
+    if (u3>0)
+    {   pin2 = true;
+    }
+    else if(u3<0)
+    {   pin2 = false; 
+    }
+    else
+    {   pin3 = 0;
+    }   
 }
-int main(){
-    pin3 = 0.0;
+
+int main()
+{
     pin5.period(1.0/10000);
-    button2.rise(&draaisnel);       // interrupt koppelen
-    button3.rise(&draailangzaam);
+    button1.rise(&draaibuttons);       
+    button2.rise(&draaibuttons);
     
     pin3.period_us(50);
     motor.attach(draai, 0.001);
@@ -89,7 +105,7 @@
     
     pin6.period_us(50);
     motor.attach(draai, 0.001);
-   while(true){
-       
+    while(true)
+    {
     }
 }
\ No newline at end of file