Anne-Linde de Gooijer / Mbed 2 deprecated Motor

biorobotics 2 motoren werkend, button verandert de richting en potmeter verandert de snelheid #shoutout naar jankoekenpan

Dependencies:   mbed QEI HIDScope biquadFilter MODSERIAL Encoder FastPWM

Files at this revision

API Documentation at this revision

Revision 7:be97dcdc1b8c, committed 2019-10-07

Comitter:
S1933191
Date:
Mon Oct 07 12:54:29 2019 +0000
Parent:
6:fdf0974a33fc
Commit message:
"schone versie", Motor1: button1 en potmeter1(direction snelheid), Motor2: button2 en potmeter2(direction snelheid)

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
diff -r fdf0974a33fc -r be97dcdc1b8c main.cpp
--- a/main.cpp	Mon Oct 07 12:48:02 2019 +0000
+++ b/main.cpp	Mon Oct 07 12:54:29 2019 +0000
@@ -1,20 +1,21 @@
 #include "mbed.h"
 #include "math.h"
 //#include "HIDScope.h"
- 
+// ---- Alles met een 1(of geen getal) gaat over motor 1----
+// ---- Alles met een 2 gaat over motor 2---- 
 // ------ Hardware Interfaces -------
  
-const PinName motor1dir = D7;
-const PinName motor1PWM = D6;
-const PinName motor2PWM = D5;
-const PinName motor2dir = D4;
+const PinName motor1dir = D7; //direction1 (cw,ccw)
+const PinName motor1PWM = D6; //speed1
+const PinName motor2PWM = D5; //speed2
+const PinName motor2dir = D4; //direction2 (cw,ccw)
  
 DigitalOut motor1direction(motor1dir);
 PwmOut motor1control(motor1PWM);
 PwmOut motor2control(motor2PWM);
 DigitalOut motor2direction(motor2dir);
  
-const PinName button1name = D10; //for some reason D8 does not seem to work. wtf!
+const PinName button1name = D10; 
 const PinName pot1name = A0;
 const PinName button2name = D11;
 const PinName pot2name = A1;
@@ -89,11 +90,6 @@
     float motorValue1 = feedForwardControl(referenceVelocity);
     setMotor1(motorValue1);
 
-
-//void measureAndControl2(void) {
-    // This function measures the potmeter position, extracts a
-    // reference velocity from it, and controls the motor with 
-    // a simple FeedForward controller. Call this from a Ticker.
     float referenceVelocity2 = getReferenceVelocity2();
     float motorValue2 = feedForwardControl2(referenceVelocity2);
     setMotor2(motorValue2);