Diff: main.cpp

Revision:

19:269f19917d80

Parent:

16:8975d6c900f0

Child:

20:4d128c3f1228

--- a/main.cpp	Mon Sep 21 15:05:33 2015 +0000
+++ b/main.cpp	Tue Sep 22 12:39:06 2015 +0000
@@ -5,52 +5,57 @@
 
 //Motor 2
 DigitalOut motor2direction(D4); //D4 en D5 zijn motor 2 (op het motorshield)
-PwmOut motor2speed(D5);
-DigitalIn button(PTA4);
-Encoder motor2(D13,D12);
-MODSERIAL pc(USBTX,USBRX);
-Ticker myControllerTicker;
+PwmOut motor2speed(D5); // D5 is an input on the motor that controls the speed of motor number 2
+DigitalIn button(PTA4); // PTA4 is used as a button controller (0 when pressed and 1 when not pressed)
+Encoder motor2(D13,D12); // The encoder is able to read and set position/speed values
+MODSERIAL pc(USBTX,USBRX); // This input is used to send data to the pc
+Ticker TickerController; // This adds a Ticker to the function +TickerController
 //AnalogIn potmeter2(A0); /NIEUW
 
-// constantes definieren
-double counts_per_revolution=4200;
+// Defining constants
+double counts_per_revolution=4200; 
 double degrees_per_turn=360;
 double counts_per_degree=counts_per_revolution/degrees_per_turn; //11.67 counts/degree
-const double motor2_Kp = 2.5; //constante motor
+const double motor2_Kp = 2.5; //controller gain which will be multiplied with the error (*how fast will the error be corrected)
 
-//functies
-double P(double error, const double Kp)
+// Function P-controller
+double P(double error, const double Kp) //returns error * controller gain
 {
-    return Kp*error;
+    return Kp*error; 
 }
+// Function that calls the P-controller
+void motor2_controller() // Void function that compares the current position with a reference value and outputs 
+    {
+        double reference=400; 
+        double position=motor2.getPosition(); //current motor position
+        double motor2_p_output=P((reference-position)*motor2_Kp); // reference-position=> current -> this is multiplied with the controller gain motor2_Kp
+        
 
-
-
+// MAIN
 int main()
 {
-    pc.baud(9600);
-    motor2.setPosition(0);
+    pc.baud(9600); // baud rate at which the information is processed to the computer
+    motor2.setPosition(0); // calls the current position of the motor zero
     while(true) {
         if (button.read() < 0.5) {   //if button pressed
             motor2direction = 0; // zero is clockwise (front view)
-            motor2speed = 0.5f;
+            motor2speed = 0.5f; // motorspeed
             pc.printf("positie = %d \r\n", motor2.getPosition());
         } else {                  // If button is not pressed
             motor2direction = 0;
             motor2speed = 0;
             //while (motor2_Controller /// WHILE MOTOR > ... <... HIER BEZIG
-            double reference=400;
-            double position=motor2.getPosition();
-            double Error_position=(reference-position)*motor2_Kp;
+        
             pc.printf("positie = %d en Error_positie =%d \r\n", motor2.getPosition(), Error_position);
             //myControllerTicker.attach(&motor2_Controller,0.01f);
-            while (Error_position > 0) {
-                motor2direction = 0;
-                motor2speed=0.3f;}
-            while (Error_position < 0) {
-                motor2direction = 1;
-                motor2speed=0.3f;}
+//  while (Error_position > 0) {
+//                motor2direction = 0;
+//                motor2speed=0.3f;}
+//            while (Error_position < 0) {
+//                motor2direction = 1;
+//                motor2speed=0.3f;}
         }
+        while(1) {}
         
         while ((motor2.getPosition()>counts_per_revolution) || (motor2.getPosition()<-counts_per_revolution)) // If value is outside -4200 and 4200 (number of counts equal to one revolution) reset to zero
         {