Diff: main.cpp

Revision:

1:7d5e6bc2b314

Parent:

0:65ab9f79a4cc

Child:

2:866a8a9f2b93

--- a/main.cpp	Mon Oct 19 09:31:16 2015 +0000
+++ b/main.cpp	Mon Oct 19 13:44:23 2015 +0000
@@ -1,6 +1,8 @@
 #include "mbed.h"
 #include "encoder.h"
 #include "HIDScope.h"
+#include "QEI.h"
+#include "MODSERIAL.h"
 
 DigitalOut  motor1_direction(D4);
 PwmOut      motor1_speed(D5);
@@ -52,11 +54,11 @@
 {
     if (button_1 == pressed) {
         move_motor1_cw ();
+    } else if (button_2 == pressed) {
+        move_motor1_ccw ();
+    } else { 
+        motor1_speed = 0;
     }
-    else if (button_2 == pressed) {
-            move_motor1_ccw ();
-        }
-    else movetohome();
 }
 
 void read_encoder1 ()    // aflezen van encoder via hidscope??
@@ -69,10 +71,29 @@
 
 int main()
 {
-
-    sethome();
     while (true) {
-        read_encoder1();
-        move_motor1();
-    }
+        pc.baud(9600);          //pc baud rate van de computer
+        
+    switch (state) {                //zorgt voor het in goede volgorde uitvoeren van de cases
+        
+        case gotohomeposition:      //positie op 0 zetten voor arm 1
+         {
+            read_encoder1();
+            sethome();
+            state = move_motor;
+            break;
+        }
+        
+        case move_motor:            //motor kan cw en ccw bewegen a.d.h.v. buttons
+        {
+            move_motor1 ();
+            state = homeposition;
+            break;
+        }
+        
+        case backtohomeposition:    //motor gaat terug naar homeposition
+        {
+            movetohome();
+            break;
+        }
 }
\ No newline at end of file