Arnoud Domhof / Mbed 2 deprecated Assignment_PES_controllers

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Dependencies:   FastPWM HIDScope MODSERIAL QEI mbed

main.cpp@2:840f7aa50e55, 2018-09-25 (annotated)

Committer:
Mirjam
Date:
Tue Sep 25 12:22:57 2018 +0000
Revision:
2:840f7aa50e55
Parent:
1:d6acc3c6261a
Child:
3:7421e53bf9bd
Read potmeter values and display with HIDScope

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Mirjam 0:50c494034326 1 #include "mbed.h"
Mirjam 0:50c494034326 2 #include "FastPWM.h"
Mirjam 0:50c494034326 3 #include "MODSERIAL.h"
Mirjam 0:50c494034326 4 #include "HIDScope.h"
Mirjam 0:50c494034326 5
Mirjam 0:50c494034326 6
Mirjam 0:50c494034326 7 AnalogIn potmeter1(PTC10);
Mirjam 0:50c494034326 8 AnalogIn potmeter2(PTC11);
Mirjam 0:50c494034326 9 MODSERIAL pc(USBTX, USBRX);
Mirjam 0:50c494034326 10 //D4 is a digital input for the microcontroller, so should be an digitalOut
Mirjam 0:50c494034326 11 //from the K64F. It will tell the motor shiel to let Motor1 turn clockwise
Mirjam 0:50c494034326 12 //of count clockwise (CW of CCW). D4 for motor 2
Mirjam 0:50c494034326 13 DigitalOut directionM1(D4);
Mirjam 0:50c494034326 14 DigitalOut directionM2(D7);
Mirjam 0:50c494034326 15 //D5 is a PWM input for the motor controller and determines the PWM signal
Mirjam 0:50c494034326 16 //that the motor controller gives to Motor 1. Higher PWM, higer average voltage.
Mirjam 0:50c494034326 17 // D6 for motor 2
Mirjam 0:50c494034326 18 FastPWM motor1_pwm(D5);
Mirjam 0:50c494034326 19 FastPWM motor2_pwm(D6);
Mirjam 0:50c494034326 20
Mirjam 2:840f7aa50e55 21 // Voor het laten zien van de data op de pc.
Mirjam 2:840f7aa50e55 22 HIDScope scope(2); // Aantal kanalen wat doorgegeven wordt aan de hidscope
Mirjam 2:840f7aa50e55 23 Ticker AInTicker;
Mirjam 2:840f7aa50e55 24 float potwaarde1;
Mirjam 2:840f7aa50e55 25 float potwaarde2;
Mirjam 2:840f7aa50e55 26
Mirjam 2:840f7aa50e55 27 void ReadAnalogIn()
Mirjam 2:840f7aa50e55 28 {
Mirjam 2:840f7aa50e55 29 scope.set(0,potwaarde1); // Zet de potwaarde in de eerste plot bij de HID scope. Deze wordt automatisch tegen de tijd geplot
Mirjam 2:840f7aa50e55 30 scope.set(1,potwaarde2);
Mirjam 2:840f7aa50e55 31 scope.send(); // Zendt de waardes naar de pc
Mirjam 2:840f7aa50e55 32 }
Mirjam 2:840f7aa50e55 33
Mirjam 0:50c494034326 34 int main(void)
Mirjam 0:50c494034326 35 {
Mirjam 1:d6acc3c6261a 36 motor1_pwm.period_ms(60); // period is 60 ms
Mirjam 2:840f7aa50e55 37 AInTicker.attach(&ReadAnalogIn,0.01f); //Elke 0.01 sec. Lees de analoge waarde
Mirjam 2:840f7aa50e55 38
Mirjam 0:50c494034326 39 while(true){
Mirjam 2:840f7aa50e55 40 potwaarde1 = potmeter1.read(); // Lees de potwaardes uit
Mirjam 2:840f7aa50e55 41 potwaarde2 = potmeter2.read();
Mirjam 0:50c494034326 42
Mirjam 0:50c494034326 43 }
Mirjam 0:50c494034326 44
Mirjam 0:50c494034326 45 }