Daniqe Kottelenberg / Mbed 2 deprecated Test_motoren_met_button_encoder

encoder verwerkt

Dependencies:   MODSERIAL QEI mbed

Fork of motor_control by Floor Couwenberg

main.cpp@7:27625939c4ed, 2016-10-07 (annotated)

Committer:
daniQQue
Date:
Fri Oct 07 08:18:44 2016 +0000
Revision:
7:27625939c4ed
Parent:
6:93a7d2989024 
poging, met encoder naar revolutions door te delen door 3200;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
daniQQue 2:80753272d9e4 1 #include "mbed.h" //standaard bieb mbed
daniQQue 2:80753272d9e4 2 #include "QEI.h" //bieb voor encoderfuncties in c++
daniQQue 2:80753272d9e4 3 #include "MODSERIAL.h" //bieb voor modserial
daniQQue 2:80753272d9e4 4 //alle ingangen definieren
daniQQue 2:80753272d9e4 5 DigitalIn encoder1A(D13);
daniQQue 2:80753272d9e4 6 DigitalIn encoder1B(D12);
daniQQue 6:93a7d2989024 7 DigitalIn button_cw(D11);
daniQQue 6:93a7d2989024 8 DigitalIn button_ccw(D9);
daniQQue 6:93a7d2989024 9 DigitalOut ledcw(D10);
daniQQue 6:93a7d2989024 10 DigitalOut ledccw(D2);
daniQQue 2:80753272d9e4 11 DigitalOut motor1(D4);
daniQQue 2:80753272d9e4 12 PwmOut pwm_motor1(D5);
daniQQue 2:80753272d9e4 13 MODSERIAL pc(USBTX, USBRX);
FloorC 1:e415c6eda278 14
daniQQue 2:80753272d9e4 15 //constanten
daniQQue 6:93a7d2989024 16 const int CW = 2.5; //definitie rechtsom 'lage waarde'
daniQQue 6:93a7d2989024 17 const int CCW =0; //definitie linksom 'hoge waarde'
FloorC 0:8ed7e7bbc391 18
daniQQue 2:80753272d9e4 19 //programma
FloorC 1:e415c6eda278 20 int main ()
FloorC 0:8ed7e7bbc391 21 {
daniQQue 2:80753272d9e4 22 pc.baud(115200); //contact maken met computer
daniQQue 6:93a7d2989024 23 QEI Encoder(D12,D13, NC, 32); // maakt een encoder aan!
daniQQue 6:93a7d2989024 24 int counts; //variabele counts aanmaken
daniQQue 4:d39f84608204 25 while(true)
daniQQue 4:d39f84608204 26 {
daniQQue 6:93a7d2989024 27 if (button_cw==0)
daniQQue 4:d39f84608204 28 { //als knop is aan dan
daniQQue 6:93a7d2989024 29 ledcw=1;
daniQQue 6:93a7d2989024 30 motor1= CW;
daniQQue 6:93a7d2989024 31 pwm_motor1=2.5;
daniQQue 6:93a7d2989024 32 counts = Encoder.getPulses();
daniQQue 7:27625939c4ed 33 pc.printf("encoder pulses: %i \r\n", counts);
daniQQue 7:27625939c4ed 34 float rondjes=counts/3200;
daniQQue 7:27625939c4ed 35 pc.printf("encoder rondjes: %i \r\n", rondjes);
daniQQue 6:93a7d2989024 36 }
daniQQue 6:93a7d2989024 37 else if (button_ccw==0)
daniQQue 6:93a7d2989024 38 { ledccw=1;
daniQQue 4:d39f84608204 39 motor1= CCW;
daniQQue 3:a50f2ce05e1f 40 pwm_motor1=2.5;
daniQQue 2:80753272d9e4 41 counts = Encoder.getPulses();
daniQQue 7:27625939c4ed 42 pc.printf("encoder counts: %i \r\n", counts);
daniQQue 6:93a7d2989024 43 }
daniQQue 6:93a7d2989024 44
daniQQue 6:93a7d2989024 45 else {
daniQQue 6:93a7d2989024 46 ledcw=0; ledccw=0;
daniQQue 4:d39f84608204 47 pwm_motor1=0;
daniQQue 4:d39f84608204 48 }
daniQQue 3:a50f2ce05e1f 49 }
FloorC 1:e415c6eda278 50 }