Diff: main.cpp

Revision:

1:9d05c0236c7e

Parent:

0:7bc93f851767

Child:

2:3d4a843be2a9

diff -r 7bc93f851767 -r 9d05c0236c7e main.cpp
--- a/main.cpp	Tue Oct 08 21:57:18 2013 +0000
+++ b/main.cpp	Wed Oct 09 06:49:17 2013 +0000
@@ -2,12 +2,11 @@
 #include "encoder.h"
 #include "MODSERIAL.h"
 
-/** Coerce -> float in, and coerce if less than min, or larger than max **/
-void coerce(float * in, float min, float max);
-AnalogIn potmeter(PTC2);
+/** keep_in_range -> float in, and keep_in_range if less than min, or larger than max **/
+void keep_in_range(float * in, float min, float max);
+
 volatile bool looptimerflag;
 
-
 void setlooptimerflag(void)
 {
     looptimerflag = true;
@@ -15,31 +14,33 @@
 
 
 int main() {
-    Encoder motor1(PTD0,PTC9);
+    //LOCAL VARIABLES 
+    AnalogIn potmeter(PTC2);
+    Encoder motor1(PTD0,PTC9);//first pin on PTAx or PTDx
     MODSERIAL pc(USBTX,USBRX);
     PwmOut pwm_motor(PTA12);
     DigitalOut motordir(PTD3);
     float setpoint;
-    float new_pwm;
-    pc.baud(115200);
+    float pwm_to_motor;
+    //START OF CODE
+    pc.baud(230400);
     Ticker looptimer;
     looptimer.attach(setlooptimerflag,0.01);  
-    pc.printf("bla"); 
+    pc.printf("bla");
+    //INFINITE LOOP 
     while(1) {
-        while(!looptimerflag);
+        while(looptimerflag != true);
         looptimerflag = false;
-        setpoint = (potmeter.read())*2000;
+        setpoint = (potmeter.read()-0.5)*2000;
         pc.printf("s: %f, %d \n\r", setpoint, motor1.getPosition());
-        if(motor1.getPosition() > setpoint)
-            new_pwm = 0.5;
-        else
-            new_pwm = -0.5;
-
-        if(new_pwm > 0)
+        pwm_to_motor = (setpoint - motor1.getPosition())*.001;
+        keep_in_range(&pwm_to_motor, -1,1);
+        if(pwm_to_motor > 0)
             motordir = 0;
         else
-            motordir = 1;  
-        pwm_motor.write(abs(new_pwm));
+            motordir = 1;
+        //WRITE VALUE TO MOTOR  
+        pwm_motor.write(abs(pwm_to_motor));
     }
 }
 
@@ -47,7 +48,7 @@
 //coerces value 'in' to min or max when exceeding those values
 //if you'd like to understand the statement below take a google for
 //'ternary operators'.
-void coerce(float * in, float min, float max)
+void keep_in_range(float * in, float min, float max)
 {
     *in > min ? *in < max? : *in = max: *in = min;
 }