Diff: main.cpp

Revision:

12:39ba69bb5a03

Parent:

5:4b25551aeb6e

--- a/main.cpp	Mon Mar 18 12:54:58 2019 +0000
+++ b/main.cpp	Thu Apr 04 11:11:23 2019 +0000
@@ -11,10 +11,10 @@
 MODSERIAL pc(USBTX, USBRX);
 
 //Motoren
-DigitalOut direction1(D4);
-PwmOut pwmpin1(D5);
-PwmOut pwmpin2(D6);
-DigitalOut direction2(D7);
+DigitalOut direction1(D7);
+PwmOut pwmpin1(D6);
+PwmOut pwmpin2(D5);
+DigitalOut direction2(D4);
 volatile float PWM1;
 volatile float PWM2;
 volatile float pwm2;
@@ -22,7 +22,7 @@
 //Encoder
 DigitalIn EncoderA(D13);
 DigitalIn EncoderB(D12);
-QEI encoder2 (D13, D12, NC, 8400, QEI::X4_ENCODING);
+QEI encoder2 (D13, D12, NC, 1200, QEI::X4_ENCODING);
 float Pulses2;
 float Degrees2;
 
@@ -104,7 +104,7 @@
     pc.printf("ElbowReference:%f\n", ElbowReference);
     pc.printf("pwm2=%f\r\n",pwm2);
     
-    Degrees2 = (Pulses2/8400)*360;
+    Degrees2 = (Pulses2/1200)*360;
     pc.printf("Degrees is:%f\n", Degrees2);
     direction2 = pwm2 < 0.0f;    //positief = CW, negatief = CCW
     pwmpin2 = fabs(pwm2);
@@ -127,6 +127,8 @@
     Pot2 = pot.read();
     pwm2 =(Pot2*2)-1;            //scaling
     Pulses2 = encoder2.getPulses();
+    pc.printf("Pulses is:%f\n", Pulses2);
+    wait(0.001);
     //pc.printf("%f\r\n",Pot2);
     }