main.cpp

00001 #include "mbed.h"
00002 #include "encoder.h"
00003 #include "MODSERIAL.h"
00004 
00005 DigitalOut led(LED_RED);
00006 DigitalOut direction1(D7);
00007 PwmOut speed1(D6);
00008 DigitalIn button(PTC6);
00009 
00010 Encoder motor1(D13,D12,true);// call the encoder
00011 MODSERIAL pc(USBTX,USBRX);
00012 
00013 int main()
00014 {  
00015    pc.baud(115200);
00016    float maximum=1.0;
00017    direction1.write(false);//turn motor CCW or CW if set to 0
00018    //motor CW = 0
00019    //motor CCW = 1
00020    while(1){//while on, turn on motor
00021        speed1.period_us(100);//Set period of PWM to 100 us.
00022        for(float cycle=0.5; cycle < maximum; cycle=cycle + 0.1){
00023             speed1.write(cycle);//write the new speed to the motor
00024             wait(1.0);// wait 1 second to switch to higher speed
00025             }   //it only turns at the last 5 speeds, so about 0.6 till 1.0
00026    }// the cause of this is the friction it has to work against during rotation
00027 }
00028