Werkcollege opgave 23 september BMT K9
Dependencies: Encoder HIDScope MODSERIAL mbed QEI biquadFilter
main.cpp@4:96e47998d495, 2015-09-30 (annotated)
- Committer:
- bscheltinga
- Date:
- Wed Sep 30 15:19:10 2015 +0000
- Revision:
- 4:96e47998d495
- Parent:
- 3:2785a945b654
- Child:
- 5:d60a42727a3e
control motorspeed with 4 buttons
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 | DigitalIn buttonL1(PTC6); |
bscheltinga | 4:96e47998d495 | 9 | DigitalIn buttonL2(PTA4); |
bscheltinga | 4:96e47998d495 | 10 | DigitalIn buttonH1(D2); |
bscheltinga | 4:96e47998d495 | 11 | DigitalIn buttonH2(D6); |
bscheltinga | 4:96e47998d495 | 12 | |
bscheltinga | 4:96e47998d495 | 13 | //dit kan worden gebruikt om de verschillende slagnelheden toe te passen door de buttons te veranderen in thresholds |
bscheltinga | 0:fe3896c6eeb0 | 14 | |
bscheltinga | 0:fe3896c6eeb0 | 15 | int main() |
bscheltinga | 0:fe3896c6eeb0 | 16 | { |
bscheltinga | 4:96e47998d495 | 17 | while(true) { |
bscheltinga | 4:96e47998d495 | 18 | if (buttonL1.read() <0.5) { |
bscheltinga | 4:96e47998d495 | 19 | motor2speed = 0.1; |
bscheltinga | 4:96e47998d495 | 20 | motor2direction = 0; |
bscheltinga | 4:96e47998d495 | 21 | } |
bscheltinga | 4:96e47998d495 | 22 | if (buttonL2.read() <0.5) { |
bscheltinga | 4:96e47998d495 | 23 | motor2speed = 0.4; |
bscheltinga | 4:96e47998d495 | 24 | motor2direction = 0; |
bscheltinga | 4:96e47998d495 | 25 | } |
bscheltinga | 4:96e47998d495 | 26 | if (buttonH1.read() <0.5) { |
bscheltinga | 4:96e47998d495 | 27 | motor2speed = 0.7; |
bscheltinga | 4:96e47998d495 | 28 | motor2direction = 0; |
bscheltinga | 4:96e47998d495 | 29 | } |
bscheltinga | 4:96e47998d495 | 30 | if (buttonH2.read() <0.5) { |
bscheltinga | 4:96e47998d495 | 31 | motor2speed = 0.99999; |
bscheltinga | 4:96e47998d495 | 32 | motor2direction = 0; |
bscheltinga | 4:96e47998d495 | 33 | } else { |
bscheltinga | 4:96e47998d495 | 34 | motor2speed =0; |
bscheltinga | 4:96e47998d495 | 35 | } |
bscheltinga | 0:fe3896c6eeb0 | 36 | } |
bscheltinga | 4:96e47998d495 | 37 | } |