Thomas Burgers / Mbed 2 deprecated ZZ-TheChenneRobot

Dependencies:   Encoder HIDScope MODSERIAL QEI biquadFilter mbed

Revision:
22:eaf4cbd1dcec
Parent:
21:c75210216204
Child:
23:335a3b843a5e
--- a/main.cpp	Thu Oct 08 12:30:00 2015 +0000
+++ b/main.cpp	Thu Oct 08 12:48:54 2015 +0000
@@ -10,8 +10,8 @@
 
 HIDScope    scope(2); // HIDSCOPE declared
 
-Ticker Sample_Ticker;      // HIDSCOPE voor main
-volatile bool sample;  // HIDSCOPE voor main
+//Ticker Sample_Ticker;      // HIDSCOPE voor main
+//volatile bool sample;  // HIDSCOPE voor main
 
 
 // (DEBUGGING AND TESTING BUTTONS) (0 when pressed and 1 when not pressed) 
@@ -57,7 +57,7 @@
 void keep_in_range(double * in, double min, double max);
 void setlooptimerflag(void);
 double get_reference(double input);
-void get_sample(void); //HIDSCOPE
+//void get_sample(void); //HIDSCOPE
 
 
 // MAIN function
@@ -83,7 +83,7 @@
     Ticker looptimer;                                          // Ticker called looptimer to set a looptimerflag
     looptimer.attach(setlooptimerflag,sample_time);            // calls the looptimer flag every 0.01s
     
-    Sample_Ticker.attach(&get_sample, sample_time); // HIDSCOPE sample Ticker
+    //Sample_Ticker.attach(&get_sample, sample_time); // HIDSCOPE sample Ticker
     
     pc.printf("Start infinite loop \n\r");
     wait (3);                                                  // Wait before starting system
@@ -97,17 +97,25 @@
              pwm_motor_turn = 0.5f;       // motorspeed            
              pc.printf("positie = %d \r\n", motor_turn.getPulses()); }
              
-        // Change Reference button Positive
-         if (buttonH1.read() < 0.5){      //if button pressed
-             pc.printf("Reference after = %d \r\n", reference_turn);
-             reference_turn=reference_turn+45;               
-             pc.printf("Reference after = %d \r\n", reference_turn); }
-             
-        // Change Reference button Negative
-         if (buttonH2.read() < 0.5){      //if button pressed
-             pc.printf("Reference after = %d \r\n", reference_turn);
-             reference_turn=reference_turn-45;                 
-             pc.printf("Reference after = %d \r\n", reference_turn); }       
+//        // Change Reference button Positive
+//         if (buttonH1.read() < 0.5){      //if button pressed
+//             pc.printf("Reference after = %d \r\n", reference_turn);
+//             reference_turn=reference_turn+45;               
+//             pc.printf("Reference after = %d \r\n", reference_turn);
+//             debug_led = !debug_led; }
+//             
+//        // Change Reference button Negative
+//         if (buttonH2.read() < 0.5){      //if button pressed
+//             pc.printf("Reference after = %d \r\n", reference_turn);
+//             reference_turn=reference_turn-45;                 
+//             pc.printf("Reference after = %d \r\n", reference_turn);
+//             debug_led = !debug_led; }    
+
+            if (buttonL1.read() < 0.5){      //if button pressed
+             motordirection_turn = cw;                       
+             pwm_motor_turn = 0;
+             wait(1000);        
+             pc.printf("positie = %d \r\n", motor_turn.getPulses()); }   
              
         // Wait until looptimer flag is true then execute PID controller.  
         else
@@ -185,16 +193,16 @@
         // Put pwm_motor to the motor
         pwm_motor_turn=(abs(pwm_to_motor_turn));
         
-        while(sample != true) // HIDSCOPE input => sample_go nu nog niet nodig opzich  // BLINK LEDS TOEVOEGEN
-        {
+//        while(sample != true) // HIDSCOPE input => sample_go nu nog niet nodig opzich  // BLINK LEDS TOEVOEGEN
+//        {
             //sample_filter; (filter function zie EMG filter working script)
             scope.set(0,reference_turn); // HIDSCOPE channel 0 : Current Reference
             scope.set(0,position_turn); // HIDSCOPE channel 0 : Position_turn
             scope.set(1,pwm_to_motor_turn); // HIDSCOPE channel 1 : Pwm_to_motor_turn
             scope.send();   // Send channel info to HIDSCOPE
-            sample = false;
-        } 
-        debug_led = !debug_led; // should flicker with freq 50 Hz
+//            sample = false;
+//        } 
+        //debug_led = !debug_led; // should flicker with freq 50 Hz
     }
 }
 }
@@ -219,8 +227,8 @@
 return (input-offset)*gain;
 }
 
-// Get sample
-void get_sample(void) // HIDSCOPE sample fuction
-{
-    sample = true;
-}
+//// Get sample
+//void get_sample(void) // HIDSCOPE sample fuction
+//{
+//    sample = true;
+//}