Diff: main.cpp

Revision:

6:246b05228f52

Parent:

4:ea7689bf97e1

Child:

9:c19f6f0f5080

--- a/main.cpp	Wed Oct 11 10:33:11 2017 +0000
+++ b/main.cpp	Mon Oct 23 08:15:07 2017 +0000
@@ -14,6 +14,7 @@
 states currentState = MOTORS_OFF;                                               // Start with motors off
 bool stateChanged = true;                                                       // Make sure the initialization of first state is executed
 
+/*
 // ENCODER
 QEI Encoder(D12,D13,NC,32);                                                     // CONNECT ENC2A TO D13, ENC2B TO D12
 float vorig_omwentelingen = 0;
@@ -24,6 +25,7 @@
 float snelheid_tpm;
 float snelheid_degps;
 float snelheid_tps;
+*/
 
 // PINS
 DigitalOut motor1DirectionPin(D4);                                              // Value 0: CCW; 1: CW
@@ -32,12 +34,14 @@
 PwmOut motor2MagnitudePin(D6);
 InterruptIn button1(D2);                                                        // CONNECT BUT1 TO D2
 InterruptIn button2(D3);                                                        // CONNECT BUT2 TO D3
+AnalogIn potPin(A1);
 
 // DEFINITIONS
-const float motorVelocity = 1;                                                  // unit: rad/s
+const float motorVelocity = 4.2;                                                  // unit: rad/s
 const float motorGain = 8.4;                                                    // unit: (rad/s) / PWM
 const int motorRatio = 131;                                                     // Ratio of the gearbox in the motors
 int motor1State = 0;                                                            // 0: Off, 1: CW, 2: CCW
+float motorValue = 0;
 
 //TICKERS
 Ticker encoder;
@@ -47,15 +51,22 @@
 void RotateMotor1CW()
 {
     motor1DirectionPin = 1;
-    motor1MagnitudePin = fabs(motorVelocity / motorGain);
-    //pc.printf("Rotating motor 1 CW \r\n");   
+    //motor1MagnitudePin = fabs(motorVelocity / motorGain);
+    motorValue = potPin;
+    motor1MagnitudePin = motorValue;
+    //pc.printf("Rotating motor 1 CW \r\n");
+    pc.printf("%f \r\n", motorValue);   
 }
 
 void RotateMotor1CCW()
 {
     motor1DirectionPin = 0;
-    motor1MagnitudePin = fabs(motorVelocity / motorGain);
-    //pc.printf("Rotating motor 1 CounterCW \r\n");   
+    //motor1MagnitudePin = fabs(motorVelocity / motorGain);
+    //pc.printf("Rotating motor 1 CounterCW \r\n");
+    motorValue = potPin;
+    motor1MagnitudePin = motorValue;
+    //pc.printf("Rotating motor 1 CW \r\n");
+    pc.printf("%f \r\n", motorValue);   
 }
 
 void TurnMotor1Off()
@@ -81,7 +92,7 @@
         break;
     }
 }
-
+/*
 void EncoderCalc()
 {
     counts = Encoder.getPulses()/motorRatio;
@@ -94,6 +105,7 @@
     vorig_degrees = degrees;
     //pc.printf("%.1f pulsen, %.2f graden, %.2f omwentelingen, %.2f tpm, %.2f tps, %.2f deg/s\r\n",counts, degrees, omwentelingen, snelheid_tpm, snelheid_tps, snelheid_degps);
 }
+*/
 
 // States function
 void ProcessStateMachine()
@@ -178,8 +190,8 @@
     
     pc.printf("START \r\n");
     
-    encoder.attach(EncoderCalc, 0.5);
-    checkMotorState.attach(CheckMotor1, 0.01);
+    //encoder.attach(EncoderCalc, 0.5);
+    checkMotorState.attach(CheckMotor1, 0.0002);
     
     while(true)
     {