Diff: main.cpp

Revision:

4:072b99947fc6

Parent:

3:7273bbe6aa02

Child:

5:67afe491a1e3

--- a/main.cpp	Fri Oct 09 20:13:19 2015 +0000
+++ b/main.cpp	Sat Oct 10 08:26:48 2015 +0000
@@ -37,10 +37,17 @@
     AnalogIn potright(A0);      // define the potmeter outputpins
     AnalogIn potleft(A1);
 
-// RESETBUTTON              
-    DigitalIn   button(PTA4);      // defines the button used for a encoder reset
-    int button_pressed = 0;
+// BUTTONS              
+    DigitalIn   buttonlinks(PTA4);       
+    DigitalIn   buttonrechts(PTC6);
+        // init values
+        bool loop_start = false;
+        bool calib_start = false;
 
+// LED
+    DigitalOut ledred(LED1);
+    DigitalOut ledgreen(LED2);
+    DigitalOut ledblue(LED3);
 
 // REFERENCE SIGNAL SETTINGS
     // Define signal amplification  (needed with EMG, used in control loop, precise amp determination is a work in progress!!!!)    ??
@@ -207,8 +214,10 @@
     double output1 = PID(error1, m1_Kp, m1_Ki, m1_Kd, controlstep, m1_err_int, m1_prev_err);
     pc.printf("output 1 %f \n",output1);
   
-    // ws best locatie om output te blokkeren als grenzen bereikt zijn, simpel if-loopje met rad1
+    // ws best locatie om output te blokkeren als grenzen bereikt zijn, simpel if-loopje met rad1??
     
+    
+    // onderstaand kan vervangen worden door een functie voor beide motoren??
     if(output1 > 0) {                    // uses the calculated output to determine the direction  of the motor
         motor1_rich.write(0);
         motor1_aan.write(output1);
@@ -257,25 +266,60 @@
 int main()
 {
     pc.baud(115200);
-    // Ticker calling the primary functions. If neccessary use the ticker to change bools and execute in the main loop as shown in the sheets.
-    controller1.attach(&motor1_activate, controlstep);
-    // controller2.attach(&motor2_activate, controlstep);   Disabled while debugging PID-controller
+    controller1.attach(&motor1_activate, controlstep);      // call a go-flag
+    // controller2.attach(&motor2_activate, controlstep);   Disabled while debugging PID-controller ??
     while(true) 
     {
-        if(motor1_go)
+        // button functions
+        if(buttonlinks.read() == 0)
         {
-            motor1_go = false;
-            motor1_control();
+            loop_start = !loop_start;     // reverse the boolean loop_start value
+            wait(buttonlinks.read() == 1);
+            wait(0.3);             // check if it causes instability!! ??
         }
-        if(motor2_go)
+        
+        if(buttonrechts.read() == 0)
+        {
+            calib_start = !calib_start;     // reverse the boolean calib_start value
+            wait(buttonrechts.read() == 1);
+            wait(0.3);             // check if it causes instability!! ??
+        }
+        
+        // Main Control stuff and options
+        if(loop_start == true && calib_start == false)        // check if start button = true then start the main control loops
         {
-            motor2_go = false;
-            motor2_control();
+            ledred.write(1);
+            ledgreen.write(1);
+            ledblue.write(0);
+                     
+            if(motor1_go)
+            {
+                motor1_go = false;
+                motor1_control();
+            }
+            if(motor2_go)
+            {
+                motor2_go = false;
+                motor2_control();
+            }
         }
-        if(button.read() == button_pressed)             // reset the encoder to reference position
+        if(loop_start == false && calib_start == true)          // start calibration procedures
+        {
+            ledred.write(1);
+            ledgreen.write(0);
+            ledblue.write(1);
+        }
+        if(loop_start == true && calib_start == true)           // check if both buttons are enabled and stop everything
         {
-            motor1_enc.setPosition(reference1);
-            motor2_enc.setPosition(reference2);
+            ledred.write(0);
+            ledgreen.write(1);
+            ledblue.write(1);
+        }
+        else
+        {
+            ledred.write(1);
+            ledgreen.write(1);
+            ledblue.write(1);
         }
     }
 }
\ No newline at end of file