Diff: main.cpp

Revision:

3:6ee0b20c23b0

Parent:

2:aee655d11b6d

Child:

4:6742476fadcf

--- a/main.cpp	Mon Oct 07 07:39:29 2019 +0000
+++ b/main.cpp	Mon Oct 07 08:51:06 2019 +0000
@@ -1,56 +1,86 @@
 #include "mbed.h"
-//#include "HIDScope.h"
-//#include "QEI.h"
+#include "HIDScope.h"
+#include "QEI.h"
 #include "MODSERIAL.h"
-//#include "BiQuad.h"
-//#include "FastPWM.h"
+#include "BiQuad.h"
+#include "FastPWM.h"
 #include <math.h>
 
+//definieer objecten
 Serial pc(USBTX, USBRX);
-Ticker myControllerTicker;
-AnalogIn potMeter(A0);
-PwmOut fan(D5);  // kan ook D6 zijn
-DigitalOut fan_dir(D4);
+
+Ticker myControllerTicker1;
+Ticker myControllerTicker2;
+
+AnalogIn potMeter1(A0);
+AnalogIn potMeter2(A1);
+
+PwmOut motor1(D5);  
+PwmOut motor2(D6);  
+
+DigitalOut motor1_dir(D4);
+DigitalOut motor2_dir(D7);
+
 InterruptIn button1(D2);
+InterruptIn button2(D1);
 
-void direction(void)
+//richting wisselen van motor 1
+void direction1(void)
+    {
+        motor1_dir=!motor1_dir;
+    }
+
+//richting wisselen van motor 2
+void direction2(void)
+    {
+        motor2_dir=!motor2_dir;
+    }
+
+
+//snelheid motor 1 aansturen
+void motor1Controller( )
     {
-        fan_dir=!fan_dir;
-    
-    pc.printf("hello");
+    // Determine reference (desired) fan speed
+        double y1_des = potMeter1.read();
+    // Controller (calculate motor torque/pwm)
+        if( y1_des > 1 ) y1_des = 1; // y1_des must be <= 1
+        if( y1_des < 0 ) y1_des = 0; // y1_des must be >= 0
+        double power1 = pow(y1_des, 2.0); // Inverse relation between input and output
+    // Send to motor
+        motor1.write( power1 );
+        pc.printf("power1: %.2f\t",power1);
+    }
+
+//snelheid motor 2 aansturen
+void motor2Controller( )
+    {
+    // Determine reference (desired) fan speed
+        double y2_des = potMeter2.read();
+    // Controller (calculate motor torque/pwm)
+        if( y2_des > 1 ) y2_des = 1; // y2_des must be <= 1
+        if( y2_des < 0 ) y2_des = 0; // y2_des must be >= 0
+        double power2 = pow(y2_des, 2.0); // Inverse relation between input and output
+    // Send to motor
+        motor2.write( power2 );
+        pc.printf("power2: %.2f\n\r",power2);
+    }
+
+
+int main()
+    {
+        myControllerTicker1.attach(motor1Controller, 0.1 ); // Every 1/10 second
+        myControllerTicker2.attach(motor2Controller, 0.1 ); // Every 1/10 second
+
+        button1.mode(PullUp);   
+        button1.rise(direction1);
+        button2.mode(PullUp);   
+        button2.rise(direction2);
+
+
+        while( true ) { /* do nothing */ }
+    return 0;
     }
 
 
 
 
-// Feed forward fan speed controller
-// Suppose an AnalogIn ’potMeter’ and PWMOut ’fan’
-void fanController( )
-{
-// Determine reference (desired) fan speed
-double y_des = potMeter.read();
-// Controller (calculate motor torque/pwm)
-if( y_des > 1 ) y_des = 1; // y_des must be <= 1
-if( y_des < 0 ) y_des = 0; // y_des must be >= 0
-double u = pow(y_des, 2.0); // Inverse relation between input and output
-// Send to motor
-fan.write( u );
-pc.printf("u: %.2f\n\r",u);
-}
-
-
-
-int main()
-{
-myControllerTicker.attach( fanController, 0.1 ); // Every second
-
-button1.mode(PullUp);   
-button1.rise(direction);
-
-while( true ) { /* do nothing */ }
-return 0;
-}
-
-
-
-