Werkcollege opgave 23 september BMT K9
Dependencies: Encoder HIDScope MODSERIAL mbed QEI biquadFilter
main.cpp@11:73817c9df1e5, 2015-10-01 (annotated)
- Committer:
- bscheltinga
- Date:
- Thu Oct 01 13:58:16 2015 +0000
- Revision:
- 11:73817c9df1e5
- Parent:
- 10:2f76fa4cd2a7
- Child:
- 12:0a079e86348e
Motor versnelt met elke 5s. Positie wordt geschreven op putty
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
bscheltinga | 0:fe3896c6eeb0 | 1 | #include "mbed.h" |
bscheltinga | 0:fe3896c6eeb0 | 2 | #include "encoder.h" |
bscheltinga | 0:fe3896c6eeb0 | 3 | #include "MODSERIAL.h" |
bscheltinga | 0:fe3896c6eeb0 | 4 | |
bscheltinga | 0:fe3896c6eeb0 | 5 | //Motor 2 |
bscheltinga | 0:fe3896c6eeb0 | 6 | DigitalOut motor2direction(D4); //D4 en D5 zijn motor 2 (op het motorshield) |
bscheltinga | 0:fe3896c6eeb0 | 7 | PwmOut motor2speed(D5); |
bscheltinga | 4:96e47998d495 | 8 | |
bscheltinga | 11:73817c9df1e5 | 9 | Encoder encoder(D13,D12); // kanalen waar de encoder op zit |
bscheltinga | 11:73817c9df1e5 | 10 | MODSERIAL pc(USBTX,USBRX); //zorgt er voor dat putty kan schrijven |
bscheltinga | 11:73817c9df1e5 | 11 | |
bscheltinga | 11:73817c9df1e5 | 12 | //4200 counts per rev. counts/4200 = rev |
bscheltinga | 0:fe3896c6eeb0 | 13 | |
bscheltinga | 0:fe3896c6eeb0 | 14 | int main() |
bscheltinga | 0:fe3896c6eeb0 | 15 | { |
bscheltinga | 11:73817c9df1e5 | 16 | pc.baud(9600); |
bscheltinga | 11:73817c9df1e5 | 17 | |
bscheltinga | 11:73817c9df1e5 | 18 | while(1) { |
bscheltinga | 11:73817c9df1e5 | 19 | |
bscheltinga | 11:73817c9df1e5 | 20 | for (double n=0.0f; n<1.0f; n+=0.1f) { |
bscheltinga | 11:73817c9df1e5 | 21 | encoder.setPosition(0); |
bscheltinga | 11:73817c9df1e5 | 22 | motor2speed = n; |
bscheltinga | 11:73817c9df1e5 | 23 | pc.printf("position: %d\r\n", encoder.getPosition()); |
bscheltinga | 11:73817c9df1e5 | 24 | wait(5); |
bscheltinga | 11:73817c9df1e5 | 25 | } |
bscheltinga | 0:fe3896c6eeb0 | 26 | } |
bscheltinga | 10:2f76fa4cd2a7 | 27 | } |