Diff: main.cpp

Revision:

2:80753272d9e4

Parent:

1:e415c6eda278

Child:

3:a50f2ce05e1f

--- a/main.cpp	Thu Sep 29 13:29:18 2016 +0000
+++ b/main.cpp	Fri Sep 30 11:46:13 2016 +0000
@@ -1,20 +1,45 @@
-#include "mbed.h"
-
-DigitalOut motor(D4);
-PwmOut pwm_motor(D5);
-//DigitalIn switch3(SW3);
+#include "mbed.h" //standaard bieb mbed
+#include "QEI.h"  //bieb voor encoderfuncties in c++
+#include "MODSERIAL.h" //bieb voor modserial
+//alle ingangen definieren
+DigitalIn encoder1A(D13); 
+DigitalIn encoder1B(D12);
+DigitalIn button(D11);
+DigitalOut led(D10);
+DigitalOut motor1(D4);
+PwmOut pwm_motor1(D5);
+MODSERIAL pc(USBTX, USBRX);
 
-Serial pc(USBTX, USBRX);
+//constanten
+const int CW = 0; //definitie rechtsom 'lage waarde'
+const int CCW =2.5; //definitie linksom 'hoge waarde'
 
-int CW = 0;
-int CCW = 1;
-
+//programma
 int main ()
 {
-    while (true){
-        motor = CW;
-        pwm_motor = 0.5;
-        
-        
+    pc.baud(115200); //contact maken met computer
+    int counts; 
+    while (knop==1){ //als knop is aan dan
+        led=1;
+        motor = CCW;
+        QEI Encoder(D12,D13,NC,32);
+        counts = Encoder.getPulses();
+        pc.printf("encoder counts %i", counts);
+
+    for (int a=0; a<5;a=a++){
+                pwm_motor =a;
+                wait(2.0f);
+                }
+               
+               int a=0;
+               wait(1.0f); 
+        motor=CW;
+          for (int a=1; a<5;a=a++){
+                pwm_motor= a;
+                wait(1.0f);
+                                }
+        a=0;
+                            
+     
 }
 }
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