Elianne Hopman / Mbed 2 deprecated Biorobotics_g15_gezamelijk

statemachine

Dependencies:   mbed QEI HIDScope biquadFilter MODSERIAL FastPWM

main.cpp@19:1a3b61bd88c0, 2019-10-04 (annotated)

Committer:
boydmartherus
Date:
Fri Oct 04 08:08:55 2019 +0000
Revision:
19:1a3b61bd88c0
Parent:
18:3de4412d8b63
Child:
20:184839c241a7
motorcontrol + print output met een ticker; werkend door mart op 3 okt

Who changed what in which revision?

UserRevisionLine numberNew contents of line
RobertoO 0:67c50348f842 1 #include "mbed.h"
boydmartherus 16:0ff43ed4d259 2 #include "MODSERIAL.h"
boydmartherus 17:3751c2c685ca 3 #include "FastPWM.h"
boydmartherus 17:3751c2c685ca 4 #include "QEI.h"
boydmartherus 7:d5e07647dfea 5
boydmartherus 7:d5e07647dfea 6 Serial pc(USBTX,USBRX);
boydmartherus 7:d5e07647dfea 7
boydmartherus 17:3751c2c685ca 8 // functies aan PINs toevoegen
boydmartherus 9:cdcf30051100 9 FastPWM led(PTA1);
boydmartherus 16:0ff43ed4d259 10 FastPWM motor(D5);
boydmartherus 18:3de4412d8b63 11
boydmartherus 17:3751c2c685ca 12 AnalogIn pot(PTB2);
boydmartherus 17:3751c2c685ca 13 InterruptIn button(PTB3);
boydmartherus 9:cdcf30051100 14
boydmartherus 17:3751c2c685ca 15 // timer opzetten = ticker
boydmartherus 19:1a3b61bd88c0 16 Ticker ticker;
boydmartherus 17:3751c2c685ca 17
boydmartherus 17:3751c2c685ca 18 // opzetten van hoekbepaling
boydmartherus 16:0ff43ed4d259 19 int pulses = 4200;
boydmartherus 18:3de4412d8b63 20 QEI encoder (D13,D12,NC,pulses);
MarliesWeggemans 4:3e9a8f5d9a1a 21
boydmartherus 17:3751c2c685ca 22 // aparte functies
boydmartherus 17:3751c2c685ca 23 // functie hoekbepaling
boydmartherus 17:3751c2c685ca 24 void hoek_bepaling()
boydmartherus 17:3751c2c685ca 25 {
boydmartherus 18:3de4412d8b63 26 encoder.getPulses();
boydmartherus 17:3751c2c685ca 27 }
boydmartherus 17:3751c2c685ca 28
boydmartherus 17:3751c2c685ca 29 //functie motor aansturen met pot
boydmartherus 17:3751c2c685ca 30 void motor_running()
boydmartherus 17:3751c2c685ca 31 {
boydmartherus 17:3751c2c685ca 32 motor.write(pot);
boydmartherus 17:3751c2c685ca 33 led.write(pot);
boydmartherus 17:3751c2c685ca 34 }
boydmartherus 17:3751c2c685ca 35
boydmartherus 17:3751c2c685ca 36 // functie print output
boydmartherus 18:3de4412d8b63 37 void print_output()
boydmartherus 18:3de4412d8b63 38 {
boydmartherus 19:1a3b61bd88c0 39 pc.printf("motor speed is (%f)\r\n",pot.read());
boydmartherus 18:3de4412d8b63 40 pc.printf("pulse is (%i)\r\n",encoder.getPulses());
boydmartherus 18:3de4412d8b63 41 }
boydmartherus 17:3751c2c685ca 42
boydmartherus 17:3751c2c685ca 43 void main_loop()
boydmartherus 17:3751c2c685ca 44 {
boydmartherus 17:3751c2c685ca 45 hoek_bepaling();
boydmartherus 17:3751c2c685ca 46 motor_running();
boydmartherus 19:1a3b61bd88c0 47 }
boydmartherus 19:1a3b61bd88c0 48
boydmartherus 19:1a3b61bd88c0 49 void print_loop()
boydmartherus 19:1a3b61bd88c0 50 {
boydmartherus 18:3de4412d8b63 51 print_output();
boydmartherus 17:3751c2c685ca 52 }
boydmartherus 18:3de4412d8b63 53
boydmartherus 19:1a3b61bd88c0 54 enum (start_wait, move)
boydmartherus 19:1a3b61bd88c0 55
boydmartherus 10:9101c7a4f219 56 int main()
boydmartherus 10:9101c7a4f219 57 {
boydmartherus 19:1a3b61bd88c0 58 ticker.attach(&main_loop, 0.001f, &print_loop, 1f);
boydmartherus 17:3751c2c685ca 59 while(true){};
boydmartherus 10:9101c7a4f219 60 }