Elianne Hopman / Mbed 2 deprecated Biorobotics_g15_gezamelijk

statemachine

Dependencies:   mbed QEI HIDScope biquadFilter MODSERIAL FastPWM

main.cpp@18:3de4412d8b63, 2019-09-23 (annotated)

Committer:
boydmartherus
Date:
Mon Sep 23 12:53:07 2019 +0000
Revision:
18:3de4412d8b63
Parent:
17:3751c2c685ca
Child:
19:1a3b61bd88c0
ticker + main_loop

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 18:3de4412d8b63 16 Ticker ticker_a;
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 18:3de4412d8b63 39 pc.printf("motor speed is (%i)\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 18:3de4412d8b63 47 print_output();
boydmartherus 17:3751c2c685ca 48 }
boydmartherus 18:3de4412d8b63 49
boydmartherus 10:9101c7a4f219 50 int main()
boydmartherus 10:9101c7a4f219 51 {
boydmartherus 18:3de4412d8b63 52 ticker_a.attach(&main_loop, 0.001f);
boydmartherus 17:3751c2c685ca 53 while(true){};
boydmartherus 10:9101c7a4f219 54 }